Looping a multidimensional array in php

I have a multidimensional array like this:

array(2) {
  [1]=>
  array(3) {
    ["eventID"]=>
    string(1) "1"
    ["eventTitle"]=>
    string(7) "EVENT 1"
    ["artists"]=>
    array(3) {
      [4]=>
      array(2) {
        ["name"]=>
        string(8) "ARTIST 1"
        ["description"]=>
        string(13) "artist 1 desc"
        ["links"]=>
        array(2) {
          [1]=>
          array(2) {
            ["URL"]=>
            string(22) "http://www.artist1.com"
          }
          [6]=>
          array(2) {
            ["URL"]=>
            string(24) "http://www.artist1-2.com"
          }
        }
      }
      [5]=>
      array(2) {
        ["name"]=>
        string(8) "ARTIST 8"
        ["description"]=>
        string(13) "artist 8 desc"
        ["links"]=>
        array(1) {
          [8]=>
          array(2) {
            ["URL"]=>
            string(22) "http://www.artist8.com"
          }
        }
      }
      [2]=>
      array(2) {
        ["ime"]=>
        string(8) "ARTIST 5"
        ["opis"]=>
        string(13) "artist 5 desc"
        ["links"]=>
        array(1) {
          [9]=>
          array(2) {
            ["URL"]=>
            string(22) "http://www.artist5.com"
          }
        }
      }
    }
  }
  [2]=>
  array(3) {
    ["eventID"]=>
    string(1) "2"
    ["eventTitle"]=>
    string(7) "EVENT 2"
    ["artists"]=>
    array(3) {
      [76]=>
      array(2) {
        ["name"]=>
        string(9) "ARTIST 76"
        ["description"]=>
        string(14) "artist 76 desc"
        ["links"]=>
        array(1) {
          [13]=>
          array(2) {
            ["URL"]=>
            string(23) "http://www.artist76.com"
          }
        }
      }
      [4]=>
      array(2) {
        ["name"]=>
        string(8) "ARTIST 4"
        ["description"]=>
        string(13) "artist 4 desc"
        ["links"]=>
        array(1) {
          [11]=>
          array(2) {
            ["URL"]=>
            string(22) "http://www.artist4.com"
          }
        }
      }
    }
  }
}

I would like to make html output like this:

--

EVENT 1
ARTIST 1
artist 1 desc
http://www.artist1.com, http://www.artist1-2.com

ARTIST 8
artist 8 desc
http://www.artist8.com

ARTIST 5
artist 5 desc
http://www.artist5.com

--

EVENT 2
ARTIST 76
artist 76 desc
http://www.artist76.com

ARTIST 4
artist 4 desc
http://www.artist4.com

--

etc.

I'm confused about digging deeper and deeper in arrays, especially when my array keys are not sequential numbers but IDs of artist/link/etc.
These arrays will kill me, honestly! =)

Thanks for any help in advance!!!