I made a table using the labels $\{I_3, p_1, p_2, p_3, p_4, p_5\}$ instead of filling the table with the matrices.
$$\begin{array}{c|c|c|c|c|c|}
& \mathbf{I_3} & \mathbf{p_1} & \mathbf{p_2} & \mathbf{p_3} & \mathbf{p_4} & \mathbf{p_5}\\ \hline
\mathbf{I_3} & I_3 & p_1 & p_2 & p_3 & p_4 & p_5 \\ \hline
\mathbf{p_1} & p_1 & I_3 & p_3 & p_2 & p_5 & p_4 \\ \hline
\mathbf{p_2} & p_2 & p_5 & I_3 & p_4 & p_3 & p_1 \\ \hline
\mathbf{p_3} & p_3 & p_4 & p_1 & p_5 & p_2 & I_3 \\ \hline
\mathbf{p_4} & p_4 & p_3 & p_5 & p_1 & I_3 & p_2 \\ \hline
\mathbf{p_5} & p_5 & p_2 & p_4 & I_3 & p_1 & p_3 \\ \hline
\end{array}$$
$f_{I_3} (x) = I_3$
then looking at a matrix mapping looking at $p_1$ line:
$$G = \binom{I_3\quad p_1\quad p_2\quad p_3\quad p_4\quad p_5}{p_1\quad I_3 \quad p_3\quad p_2\quad p_5\quad p_4}$$
$p_1*I_3 = p_1 ,\quad p_1*p_1 = I_3$ this brings it back to start so $(I_3, p_1)$
$p_1*p_2 = p_3,\quad p_1*p_3 = p_2$ brings it back to start so $(I_3, p_1),(p_2, p_3)$
$p_1*p_4 = p_5,\quad p_1*p_5 = p_4$ brings it back to start so $(I_3, p_1),(p_2, p_3),(p_4, p_5)$
$f_{p_1} (x) = (I_3, p_1),(p_2, p_3),(p_4, p_5)$
then looking at a matrix mapping looking at $p_2$ line:
$$G = \binom{I_3\quad p_1\quad p_2\quad p_3\quad p_4\quad p_5}{p_2\quad p_5 \quad I_3\quad p_4\quad p_3\quad p_1}$$
$f_{p_2} (x) = (I_3, p_2), (p_1, p_5), (p_3, p_4)$
and so on...