Master -details datagridview without using datasets

Question

I have a class, lets call it class A, with some properties and one of them is a List of objects of class B.
I would like to display a list of A objects in a master datagridview and the corresponding list of B objects in a details datagridview. Unfortunately the examples I can find on internet deals with datasets and relations between their datatables. I bet I can fill the details datagridview listening on the current_change or similar events of the master datagrid, but I'm looking for the easiest way of doing so in my developing environment (VC# express 2008).
A solution which relieves me from manually adding columns to the datagridview will be appreciated.
Thanks
Filippo