You may take use of add_submenu_page
function:
Add a top-level menu page
add_menu_page(
$page_title,
$menu_title,
$capability,
$menu_slug,
$function,
$icon_url,
$position
);
Add a sub-menu page
add_submenu_page(
$parent_slug,
$page_title,
$menu_title,
$capability,
$menu_slug,
$function
);