Taxation url

Hello!

I created a new post, its slug is uslugi
I also created a taxonomy for it: category
In taxonomy (category) I create several categories

Now when I create a new post and specify a category, I expect to see https://domen.com/uslugi/category-name/new-post-name in the url

Instead I get https://domen.com/uslugi/new-post-name

How do I output the category-name

Or output https://domen.com/category-name/new-post-name