subpages and permalinks

I’m new to WP, and after checking out the documentation for creating subpages, and setting up parent pages, when I view the website all pages are listed, but without parent pages.

Can I create subpages and keep the default setting for the permalinks?

I’m sure this has already been answered a gazillion times, but I can’t find it spelled out anywhere that in order to create subpages you HAVE to use different Permalinks.

Thanks!