Sub-category and category in permalink structure

Is there any way (plugin or function), to include the sub-category and the category automatically in the permalink structure?

I want an URL structure like this:

category/subcategory/posttitle/

set the permalink as

  /%category%/%postname%/

When you set a category parent of child, the permalink will be

  ../category/child-category/postitle

I tried and worked fine!

Regards