If I am understanding you correctly what you are asking for is available out of the box with the paid version of SharePoint. When you get you turn on the publishing infrastructure feature you get a unified "Navigation" site setting instead of separate settings for quick launch and global navigation. In this navigation setting page you can choose to show subsites and pages as items and then organize how you want them to be displayed on the quick launch.
If you don't have the publishing infrastructure site collection feature you are most likely looking at writing code. You may able to figure out which site map provider the paid version uses and see if its available for use but I have a feeling you would need the additional DLLs made available through the paid version to get it to work.
Update - More Details:
This site covers it pretty well: http://www.alexbruett.net/?p=285
Essentially, you will need the Site Collection Feature "SharePoint Publishing Infrastructure" activated on the site collection and on the site that you want to display the pages from will need the "SharePoint Publishing" site feature activated.
Once these are activated, configure the top level site to display navigation items below the current site and to display subsites (This gets your heading).
Then configure the subsite to show pages in the navigation. (These pages must be in the "Pages" library - in 2010 its important to note this is separate from the "Site Pages" library).