TAXI TO WRONG RWY BY DA20 FLT CREW AT GRB.

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WE WERE CLRED TO TAXI TO RWY 36. WE ENTERED TXWY D AT D1 WHICH IS THE PARALLEL TXWY TO THE APCH END OF RWY 6. THERE WAS A LOT OF RADIO CHATTER WITH RERTES FOR A COMMUTER HOLDING FOR TKOF AT RWY 6. AS WE WERE TAXIING; THE COMMUTER WENT OVER TO TWR AND WAS TAXIING INTO POS ON RWY 6. THE GND CTLR TOLD US TO HOLD SHORT OF RWY 6. WE SHOULD HAVE HELD SHORT OF RWY 6 AT TXWY M. BUT WHAT WE DID WAS CROSS RWY 36 AND PROCEED TO AND HOLD SHORT OF RWY 6 WHERE THE TWR TOLD US THAT WE HAD PROCEEDED TO THE WRONG RWY. WHAT WE SHOULD HAVE DONE IS TAXI [SW] ON TXWY D TO JOIN TXWY M. IN OUR ORIGINAL CLRNC; WE WERE CLRED TO RWY 36; SO THEREFORE; WE WOULD HAVE CROSSED RWY 6 ON TXWY M TO PROCEED TO THE DEP END OF RWY 36 TO HOLD AND CONTACT THE TWR FOR A TKOF CLRNC. THE PF SAID THAT HE THOUGHT WE WERE CLRED TO TAXI TO RWY 6 FOR DEP. THE PNF FOR WHATEVER REASON MISTOOK THE CLRNC TO HOLD SHORT OF RWY 6 FOR DEP ON RWY 6. PROBABLY BECAUSE THE COMMUTER WAS DEPARTING ON RWY 6. THERE WAS NO CONFLICT WITH THE DEPARTING ACFT. LOOKING BACK WHAT HAPPENED WAS A BREAKDOWN IN CRM. WE NEGLECTED TO BOTH PHYSICALLY LOOK AT THE ARPT DIAGRAM TO DISCUSS THE APPROPRIATE RWY AND THE TXWYS TO BE USED TO GET THERE. ANOTHER THING IS THAT IT WAS AN ARPT THAT WE HAD BEEN TO BEFORE AND WERE JUST SLACK. IN THE FUTURE; I WILL TAKE MORE TIME TO LOOK AND DISCUSS THE ARPT DIAGRAM. ALSO; IF ANY CONFUSION; VERIFY WITH ATC IF YOU BOTH DID NOT UNDERSTAND WHAT WAS GIVEN.