Primary [parent] menu highlighted with secondary

Is there a way for the primary menu item to remain highlighted when the secondary menu item is selected?

I have five primary menu items and a secondary menu for each of them. I would like visitors to the site to know which primary category they are visiting while navigating around the secondary items without having to use breadcrumbs.

For instance, this secondary page lives under the “Visitors” primary navigation – I would like that to remain highlighted as well.

Thanks in advance for your help!

https://www.ads-software.com/plugins/genesis-simple-menus/