Custom URLs

Hi,

I have a site and would like to set things up so that posts of particular categories are published at particular URLs.

For example I have a number of static pages in the menu that live at the top level eg.

domain.com/about-us
domain.com/meetings

and also a category-based URL that lives at the top level
domain.com/news (which lists all posts with category of news).

Underneath domain.com/about-us and domain.com/meetings I would like to have pages such as clubs which I want to live at about-us/groups (which would be the listing page), with each group living at about-us/group/<post-title>.

I can use the Custom Permalinks plugin https://wordpress.org/plugins/custom-permalinks/ to create a link for groups category of about-us/groups, but how then do I configure each post that carries the category tag to appear under this URL structure?