How To Find 95th Percentile

I have a table as:

ID VALUE
---------- ----------
1 2
1 14
1 41
1 42
1 42
1 48
1 56
1 65
1 86
1 93
2 15
2 36
2 42
2 48
2 62
2 75
2 75
2 85
2 85
2 99

There are millions of distinct ID and more than 5000 VALUE's(in ascending order) for each ID.

I need to find the VALUE stored at [int((95 / 100) * COUNT(ID)) - 1] column for each ID, where COUNT(ID) is the no of rows for each ID.

The result will be as

ID VALUE
---------- ----------
1 86
2 85