Hey, I’m a newbie to Drupal!

I need to know how to create beautiful URLs fully automatically, that

* Look like this: http://mysite.com/company/about-us
* Where "company" is a page, and "about-us" is a sub-page in menu order

I have tried pathauto module with the option of [menupath-raw], but it only puts the title "about-us" as the URL and does not bring on its parent page "company".

Also, is it possible to recreate all URLs everytime I change something at the menu structure? Would be nice to have them really dynamic and always syncronized to the menu structure.

Thank you so much!
/Gerrit