Take calls back into the IVR from misc destination

I would like to do something like say for example, the customer presses 1/2/3 etc to reach to phone numbers assigned for each IVR menu so lets say if the customer presses 1, then he will be taken to the misc destination(the phone number X1X1X1X1) and if he presses 2 then he will be taken to the misc destination(the phone number X2X2X2X2) and he will be connected to that phone number so that he can talk, but once the conversation is done, the customer will be able to press * or # button to come back to the main IVR so that he can press 3 and press 4 on and on and on. any suggestions?