Organizing content in a hierarchy
I would set up a vocabulary, with a machine name such as site_nav,

then on your nodes, you would add a taxonomy term reference field to the site_nav vocabulary.

Then set up automatic path aliases using pathauto at /admin/config/search/path/patterns

You could use the title of the page or add an additional field, such as field_short_name to use in the url.

Then the pattern would be

[node:field_site_nav:url]/[node:field_short_name]


or

[node:field_site_nav:url]/[node:title]


or some such (I forget the exact pattern for urls of terms).

You could also use the content type names, if you have content types such as "products" and "about us", then the pattern would be

[node:content-type]/[node:title]


There are some more examples here:

https://www.drupal.org/node/1044980