Child navigation and fancy urls

[webturtles]

Hi all
I am trying to work out the best way to use fancy URLs (using default permalink structure) and sub-level navigation. As far as I can see all pages live at the top level ie. ?id=page1, ?id=page2 even if page2 is set as a child of page1 in the navigation structure. Can this be overridden?

I am currently using the child menu plugin in the sidebar and have pretty url links to domain/page1/page2 which I think makes sense, unfortunately ?id=page1/page2 doesn't work!

Any suggestions would be much appreciated!
Cheers
Chris