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If you have a day bed, all you need for the trundle is a frame, add wheels low enough to allow it to roll under the bed. I would use a piece of ply wood cut to fit and then the roller legs could be screwed onto the bottom for the trundle. Add a mattress and you have your trundle bed!
https://www.hometalk.com/diy/build/furniture/day-bed-and-trundle-2252613
https://www.hometalk.com/diy/build/walls/make-your-own-built-in-trundle-bed-and-cabinets-29362012
Day Bed and Trundle
$300 Built-In Trundle Bed and Cabinets
Hi Debra! What a wonderful idea! I love trundle beds and here are some suggestions for you on how to make one. Good luck Debra!
https://www.bing.com/videos/search?q=How+to+make+a+trundle+bed&qpvt=How+to+make+a+trundle+bed&FORM=VDRE
https://www.doityourself.com/stry/how-to-build-a-trundle-bed
If you do not yet have all the needed tools, and necessary hardware, the cost of purchasing these to complete the project might not be cost effective. Check first into the prices of ready-made trundle beds.