Parent page id in url

I’m making a web page where the menu can be in multiple levels, i.e

Home

Our clinics

  • New York

  • Florida

Contact us

My question is how can I get the URL manager to create and handle url’s where the parent page’s id is included, i.e

www.mytestpage.com/our-clinics/new-york

And when the user enters the url he should get the New York page.

Hope someone can point me in the right direction :)