you would need to hand code the menu items for this to add the additional links to the same li element as the Planing link.
for example, the menu structure for the vertical secondary menus would look like this:
<li class="parent"><a href="#">Home Services</a>
<ul class="level-1">
<li><a href="#">Planning</a></li>
<li><a href="#">Education</a></li>
<li><a href="#">Public Affairs</a></li>
</ul>
you could modify that so all three are in the same LI:
<li class="parent"><a href="#">Home Services</a>
<ul class="level-1">
<li><a href="#">Planning</a>||<a href="#">Education</a>||<a href="#">Public Affairs</a></li>
</ul>
you would also need to edit the css to change the width of the level-1 ul to accommodate all of the links at the same level.