Make pretty nested hierarchy from the input array of objects

Question

I'm trying to make build nested hierarchy from the defined input data, and I`m faced some problem with the deep level hierarchy. So, as an input there is array of objects, looks like this:

[
    {
        id: 1,
        parentId: 1,
    },
    {
        id: 2,
        parentId: 1,
    },
    {
        id: 3,
        parentId: 2,
    },
    {
        id: 4,
        parentId: 3,
    },
    ...
]

Every element has his own id and parentId. As outcome, I want to have the structure, grouped by the parent id's, smth like this:

{
    id: 1,
    sub: [
        {
          id: 2,
          parentId: 1,
          sub: [
              {
                  id: 3,
                  parenId: 2,
              },
              ....
          ],
        },
    ],
}

So, the problem is how to build algorithm that will recursively goes through this input data, and build such structured outcome? When I know the level of hierarchy, I could build algorithm with defined level of nested loops, but the problem is with unknown number of deeper.