Permalink structure for static pages?

I am new to WordPress and still learning. I am not a programmer so i would expect simple solution for this. I visited some forum posts here and can not gasp much. I also visited wordpress codex but i think that is all about posts.

I got this post but I am not sure about this.

So how do i get permalink structure like this:

http://www.mysite.com/pages/subpages

I mean what code do i have to out in custom structure field.

Thanks