Child page urls after changing slug

I changed the slug on the following page:
Old slug: https://www.travelinsurancereview.net/companies/
New slug: https://www.travelinsurancereview.net/travel-insurance-reviews/

The original slug had child pages such as this:
https://www.travelinsurancereview.net/companies/travel-insured/

Yoast Premium handled the redirect for the parent page, but is there a way to make the changes to the child pages as well. For example:
Old child page: https://www.travelinsurancereview.net/companies/travel-insured/
New child page: https://www.travelinsurancereview.net/travel-insurance-reviews/travel-insured/

The page I need help with: [log in to see the link]