Adding multiple constituents to a single membership

I am not sure if I am not reading the API docs correctly but I cannot workout how, if it is possible, to add multiple constituents to a single membership via the API. I have a test case family that would have two members and they would belong to the same membership id, I have created a relationship between them via the API and tried deleting and readding the membership after, adjusting the category and number of people allowed onto the membership and deleting and readding the relationship. What do I put in the payload and to what url do I need to post to add multiple members?