Link custom post type to parent page and show in slug / breadcrumb

I am using the Custom Post Type UI plugin to add custom post types to our website. We now created a CPT called IPDC.

For this custom post type, we would like to have the option to link every IPDC page to a parent page, the parent page being a default Wordpress page. I guess I could do this by adding a custom field, but how do I manage the slug and breadcrumb in that case?

For example. The IPDC page 'Page B' is linked to default page 'Parent A'. In that case, the slug should be ***/parent-a/page-b.

Also, we are using the Yoast Plugin, so our new slug structure should be shown there as well.

Can anyone suggest which direction to go in order to implement this?

Thank you