OpenSearch: how to define parent/child relationship between documents?

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Due to AWS migration I have to migrate from ElasticSearch to OpenSearch. The OpenSearch will be provisioned by AWS OpenSearch Service.

The existing documents in ES index has parent/child relationship created using join field type. I don't see such mapping type in the OpenSearch documentation.

Question: How can I define parent/child relationship in OpenSearch?

UPDATED: The currently used ES version is 6.8. As for migration, the preference is to use the latest OpenSearch version.

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