URL Of New Listing Not Showing category

Hi friends,
Whenever I add a listing to a category, I get a url like:
https://www.zdrctry.com/listing/listing-title

Now, in the above url, you can see that there is no category.This can make it very disorganised.What I really want is, that when I create a new listing, and select a category, the category name should appear in the url automatically.

Example:
For a category “Coffee-shops” (www.zdrctry.com/category/coffee-shops), when I add a listing with a title “starbucks in new-york”, the url should look like: http://www.zdrctry.com/category/coffee-shops/starbucks-in-new-york

R’gds.