Sub-Directory URL Structure

Hello,

I can’t seem to figure out how to do the following:

1. I would like to create a few web pages with the urls like:

web-address/service-01/page-01
web-address/service-01/page-02
web-address/service-02/page-01
web-address/service-02/page-02
web-address/service-03/page-01
web-address/service-03/page-02

It doesn’t matter if they are WordPress pages or posts, although I prefer pages. Can’t find a way to create the sub-directories “service-01”, “service-02” and “service-03”.

2. I would like to list all these pages on the navigation menu. I know how to use wp_list_pages to put pages on the menu, but is there a way to put “posts” on the menu?

Thanks so much for your help!