How to create custom REST End Points ?

Hi, I want to get all posts with main category ? But I could not achieve it. Please tell me How can I add custom end points to your template. Because I did not find functions.php file in your template. 
NOTE: I want to get all posts with parent categories which have lots of subcategories. For example, We have main_category--> SubCategory which also have AnotherSubCategory. I want to get all posts given main_category_id. But I could not it
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