Custom URL path according to navigation menu with selected article {SOLVED}

How do I set URL path according to my navigation menus which are “Primary and Secondary” links?

Under “Primary” menu (are examples): Home | Arizona | California | Delaware | ...

And

Under “Secondary” menu (are examples): News | Entertainment | Politics | Sports | ...

Basically, what I want is to generate URL path base on those menu’s (above) with the “article” selected.

Ex: if I visit Arizona, select Sports section and choose any articles (within Sports). The URL path would look something: www.mywebsite.com/arizona/sports/some-sport-article

(NOTE: Menu's are based on Taxonomy terms...)

Any idea are very much appreciated…

Thanks,

vsotto