Page on multiple places in menu

Hi,

I have a website with multiple pages, and a WordPress Menu with items containing pages. (These items containing pages are made of categories right now). Like this:

MENU
? About us
– Who we are
–?Contact us
– Our story
? Products
–?In door
–?Out door
– Contact us

The menu above is not the actual menu, it consists of 10 menu items (categories) and around 50 submenu items (pages). But it works in this way, so let’s use it for an example.

Some of the pages belong to multiple menu items, in my example above the “Contact us” in under both “About us” and “Products”.

My problem is that I can’t select the current menu item with css in these cases when the page belongs to multiple menu items, since both “About us” and “Products” gets the class “current-menu-item” when visiting “Contact us”.

The only way around this that I can figure is to assign categories to pages and replace the WordPress menu with “wp_list_pages” or such. But this removes a lot of the flexibility I need in sorting the menu items correctly.

Is there a way of doing this?

It would be great if the current page got its permalink relative to the menu position, i.e. “www.site.com/about-us/contact-us” when clicked on from that section.

I can change my setup, please help me to get this working!