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Where is the submenu displayed in Drupal 7?

In one of my sites I chose to use the menu "main menu", and use it in the region "navigation". This was all good, until I discovered that the child of each menu link was not displayed if I clicked the parent. It was not automatically expanded on the page I clicked.

Say you want to have a menu structure like this:

about us
services
-animated gifs
-background midi music
contact