Category permalink structure within pages

I have my template setup so the header menu highlights when on a particular page. When a user clicks portfolio page the menu highlights portfolio. But when a user clicks on a post within the portfolio page the menu “portfolio” goes back to normal. Is there a way to keep it highlighted when viewing a post from a particular page?

I noticed it has to do with the permalink structure. (maybe?) Currently mine i setup as

pages: domain.com/portfolio-page

post (with parent categories): domain.com/work-category/logo-category/post-name