How to change Child page url by excluding title name of its Parent page?

When I created a Child Page nested under a Parent Page, the page url by default is https://www.coseccommunity.com/statutory-forms/form-49.

May I know how to change it to https://www.coseccommunity.com/form-49 but still keep it under the Parent Page of “Statutory Forms”. So that when someone click the menu on “Statutory Forms”, it would show all the Child Pages for this category (ie Parent Page, “Statutory Forms” category in my case).

Thanks.