Custom post types / URLs / nesting

Hi

I’ve set up my site to make use of the services carousel for subtopics. I’ve renamed the services custom post type to be “lessons”.

I now have top level pages:

http://www.site.co.uk/maths-tuition/
http://www.site.co.uk/english-tuition/
http://www.site.co.uk/science-tuition/

And posts in the format:

http://www.site.co.uk/lessons/primary-maths
http://www.site.co.uk/lessons/primary-english
http://www.site.co.uk/lessons/secondary-science

Is there an easy way to make the navigation consistent, so the services posts (* below) are hanging off of the relevant page, instead of staying at root level?

For good UX and SEO I would like to see:

http://www.site.co.uk/maths-tuition/
http://www.site.co.uk/maths-tuition/primary-maths *
http://www.site.co.uk/english-tuition/
http://www.site.co.uk/english-tuition/primary-english *
http://www.site.co.uk/science-tuition/
http://www.site.co.uk/science-tuition/secondary-science *

I thought about declaring 3 x custom post types (for each of maths, english and science) but wondered if there’s a better way, or if I need to use categories.

Thanks