Alicia,
Are you referring to BluePrint and Associated courses? Sometimes people refer to BluePrint as a Parent course and Associated as a child course. If this is what you are talking about it can be done when you create courses with a csv upload or API. I believe the BluePrint course would have to be initially set up in Setting by clicking the BluePrint checkbox, but then there is a field in the Courses csv file for blueprint_course_id. Having the BluePrint (parent) course listed here would set up that relationship.
SIS Import Format Documentation - Canvas LMS REST API Documentation
Rick
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