One to many relationships

One to many relationships

Hello, 
I am not finding the tool for relating multiple contacts and/or multiple companies to one contact or company.

e.g.  Bob Jones (individual)  Jones Company (company) as primary contact/company

I want to be able relate Sarah Smith, Jane Doe, Steve Smith etc. to either Bob Jones or Jones Company and be backward compatible so that I can see the relationship.  e.g. I look up Sarah Smith and see her being related to Bob Jones and/or Jones Company.

Thanks
MP