I’m not aware of a way to do that with only linked records. It’s behavior that clearly exists since “child” lists are auto-created when records are in separate tables, but the functionality hasn’t been extended to intra-table relationships.
Alternatives
If only one parent can be assigned to each child, you could group by the linked field and get your answers.
parent1
child1
child2
But if a child can have many parents, then those groupings won’t be useful:
parent1 parent2
child1 child2
parent1
child3
parent1 parent3
child4
If it’s a really important bit of information, someone familiar with JavaScript could program a Scripting Block to log the parents and their respective children. But it would need to be periodically run since the scripting block only runs on button click at the moment.