This is a summary proof partially inspired by @David.
Proof.
($S$ has an id) Let $a$ be any item in $S$. Because $aS=S$, exists $e\in S$ such that $ae=a$ ($e$ is the right-id of $a$). Need to show that $e$ is actually the right-id of all items in $S$ (not just $a$).
To do this, let $x$ be any item in $S$. Since $S=Sa$, exists $y\in S$ such that $x=ya$. Therefore, $xe=yae=ya=x$. That is to say, $e$ is the right-id of $x$ (or any item in $S$). Samely, we can show that $S$ has a left-id $e'$.
Since $e'$ is the left-id, $e'e=e$. Since $e$ is the right-id, $e'e=e'$. That is to say, $e=e'e=e'$, and hence $S$ has a unique id $e$.
(Any item in $S$ has an inverse) Let $a\in S$. Becuase $aS=S$, exists $a^{-1}\in S$ such that $aa^{-1}=e$ ($a$ has a right-inverse). Samely, since $Sa=S$, $a$ has a left-inverse $A^{-1}$ such that $A^{-1}a=e$.
Since $aa^{-1}=e$, $A^{-1}aa^{-1}=A^{-1}e$, $ea^{-1}=A^{-1}$, $a^{-1}=A^{-1}$. That is to say, $a$ has a unique inverse.
($S$ is a group) Follows immediately from above. $\blacksquare$