Hypervisor-based virtualization is a promising technology to concurrently run various embedded real-time applications on a single multicore hardware. It provides spatial as well as temporal separation of different applications allocated to one hardware platform. In this paper, we propose a concept for hierarchical scheduling of dependent real-time software on multicore systems using hypervisor-based virualization. For this purpose, we decompose offline schedules of singlecore systems based on their release times, deadlines, and precedence constraints. Resulting schedule fragments are allocated to time partitions such that task deadlines as well as precedence constraints are met while local scheduling order of tasks is preserved. This concept, e.g., enables consolidation of various dependent singlecore applications on a multicore platform using full virtualization. Finally, we demonstrate functionality of our concept by an automotive use case from literature.