WordPress – create a page with custom URL

I have a WordPress page /users and it displays a list of all users created. Each user has a link to its profile page. What I need to do is create that page. I want it to go like this /users/{user_id}-{first_name}-{last_name}, for example – /users/1-john-doe. I have a template for /users and also for profile pages. Question – how do I properly make a page with that profile template so that it would have the url described above? The page does not need to select the user automatically, it needs to pass the user slug so I can read it in that page and query for that user (as a variable or something).

Thanks.