In this paper, a novel index and composition modulation (ICM) transmission scheme, termed as grouped generalized composition and spatial modulation (G-GCSM), is proposed for massive multiple-input multiple-output (MIMO) systems. Specifically, it amalgamates the concepts of composition modulation (CM), generalized spatial modulation (GSM) and spatial multiplexing to attain high spectral efficiency (SE) and low implementation complexity. In the G-GCSM scheme, transmit antennas are divided into several groups and the GCSM transmission structure is employed independently in each group, facilitating the bit-toindex mapping issue in massive MIMO scenarios. Additionally, at the receiver side, an improved expectation propagation (EP) detector is designed for the proposed G-GCSM scheme, which exploits the inner sparsity of the transmitted vector in G-GCSM. Simulation results demonstrate the superiority of the proposed scheme over the existing GSM schemes in terms of bit error rate (BER) performance under the same SE conditions. Moreover, the proposed improved EP detector is able to provide a significant performance gain over the conventional minimummean-squared error (MMSE) detector in both determined and under-determined massive MIMO systems.