How to get friendly urls of other applications to display?

Hello. The friendly url of only the first application (in this case the menu) after a user logs in is displayed in the url. After that, it remains the same no matter which page a user navigates to. I would like for the url to reflect the friendly url of the page that the user is currently on. For example

website-name/home
website-name/some-page
website-name/other-page

etc.

Currently only the first application (home) is displayed. So, no matter which page a user navigates to they will see the following:

website-name/home