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The $D=4$ supersymmetric Yang-Mills quantum mechanics with $SU(2)$ and$SU(3)$ gauge symmetry groups is studied. A numerical method to find finitematrix representation of the Hamiltonian is presented in detail. It is used tofind spectrum of the theory. In the $SU(2)$ case there are bound states in allchannels with definite total number of fermions and angular momentum. For 2,3,4fermions continuous and discrete spectra coexist in the same range of energies.These results are confirmation of earlier studies. With $SU(3)$ gauge group,the continuous spectrum is moved to sectors with more fermions. Supersymmetrygenerators are used to identify supermultiplets and determine the level ofrestoration of supersymmetry for a finite cutoff. For both theories, with$SU(2)$ and $SU(3)$ symmetry, wavefunctions are studied and different behaviorof bound and scattering states is observed.

Four dimensional supersymmetric Yang-Mills quantum mechanics with three colors