php - How to create a sitemap with page relationships

I'm currently trying to figure out a way to write a script (preferrably PHP) that would crawl through a site and create a sitemap. In addition to the traditional standard listing of pages, I'd like the script to keep track of which pages link to other pages.

Example pages

A
B
C
D
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I'd like the output to give me something like the following.

Page Name: A

Pages linking to Page A:

• B
• C
• D

Page Name: B

Pages linking to Page B:

• A
• C

etc...

I've come across multiple standard sitemap scripts, but nothing that really accomplishes what I am looking for.

EDIT Seems I didn't give enough info. Sorry about my lack of clarity there. Here is the code I currently have. I've used simple_html_dom.php to take care of the tasks of parsing and searching through the html for me.

<?php

include("simple_html_dom.php");

url = 'page_url';

$html = new simple_html_dom(); 
$html->load_file($url);

$linkmap = array();

foreach($html->find('a') as $link):
    if(contains("cms/education",$link)):
        if(!in_array($link, $linkmap)):
            $linkmap[$link->href] = array();
        endif;
    endif;
endforeach;

?>
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Note: My little foreach loop just filters based on a specific substring in the url.

So, I have the necessary first level pages. Where I am stuck is in creating a loop that will not run indefinitely, while keeping track of the pages you have already visited.