How to Extract Quoted Line Items Data

I would like to utilize the REST API to extract QLI data. I need the related Quote to be exposed as well as the individual QLIs. 

I have a working Webhook where Quote header data is pushed to on external system using a specific trigger in Sugar. That data creates a sales order in our ERP. 

I require the QLI data to accompany that Quote data when pushing to the ERP. 

How do I go about doing that?