Get drupal breadcrumb by providing nid?
You could use Crumbs module.
Now, if you say these nodes are "associated", I wonder how exactly? With an Entity reference field? Or just that you know the parent? Is this for all nodes of this type, or just for this specific one? Are these nodes somewhere in a menu?

If you can arrange either of the criteria above, you can use existing Crumbs plugins. Otherwise, you could do a custom module..