Page – Same permalink, different parent

What do I have to change in order to have the same permalink name for the page, but different parents. I.e. About us -> Contact us. And How to get in touch -> Contact us.

So, the permalinks would be /about-us/contact-us/ and /how-to-get-in-touch/contact-us/ and they would be two different pages. Right now with one permalink named contact-us, /how-to-get-in-touch/contact-us/ will take me to /about-us/contact-us/.

Thanks a lot!