wp_list_pages and subpages!

Hi,

I would like to load some specific pages in my menu.
The pages I would like to load: ID’s 10, 12, 16.

This is the way I do this:
<?php wp_list_pages('&title_li=&include='10,12,16'); ?>

But I would like to show certain subpages as well:
38 (child of page 10) and 44 & 46 (children of page 16)

How can I make a ‘submenu’.
This is the output I need:

<li><a href="#">10</a>
  <ul>
    <li><a href="#">38</a></li>
  </ul>
</li>
<li><a href="#">12</a></li>
<li><a href="#">16</a>
  <ul>
    <li><a href="#">44</a></li>
    <li><a href="#">46</a></li>
  </ul>
</li>

and I hope this is possible by using
<?php wp_list_pages('&title_li=&include='10,12,16,38,44,46'); ?>
and configure it so that the list_pages functions checks if a page is a child. Or is this too hard?

Does anybody have some documentation or a website which can help? Please somebody point me in the right direction!

Thanks in advance!