How to list post as sub nav under categories?

  • I’m currently using the appearance -> menu feature to create my primary nav.

    <?php wp_nav_menu( array( 'theme_location' => 'primary' ) ); ?>

    Is there a way dynamically that I can also have it list links to post under each category?

    ie.

    category 1
    – 1
    – 2
    – 3
    category 2
    – 1
    – 2
    …

    I want to list all the posts under each category as number links.

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