Use Gw Code Categories like as below:
OR if you want to use category url title then:
If you don't want to ...
You should be aware that GWCode Categories has not been updated since 2012, and only works with EE2 (see more details here http://gwcode.com/add-ons/gwcode-categories/release-notes) - so while it is incredibly handy it is not a robust long-term solution.
Fortunately there is an alternatives - find out more here https://buzzingpixel.com/software/category-...