The structure of my menu is this:

About
>Contact Us
>Board
>Musicians
>Volunteers

I want my urls to contain the parent menu item:
domain.com/about
domain.com/about/contact-us
domain.com/about/board
domain.com/about/musicians
domain.com/about/volunteers

I can only get it to do one of these:
domain.com/about/about
domain.com/contact-us
domain.com/contact-us/contact-us

The regular JoomlaSEF does it right, but adds the itemID to the urls for internal articles.

Is there a setting someone can point me to? I have been trying many combinations.

Thanks!