If you've had us install our SEO module for Joomla, this is one of the things that we have already set up for you.If you want to create custom URLs you can do this too. Go to Components>sh404SEF

You will then see the sh404 administration panel as follows:

You can see how SEF URLs are compiled by clicking on the Configuration button. DO NOT CHANGE THESE SETTINGS UNLESS YOU KNOW WHAT YOU ARE DOING. It can have a serious effect on whether the links in your website work or not.This can have very serious concequences for existing websites, if you have already achieved high results in the search engines. This tool will change your URLs and should not be used without serious consideration and planning, for existing websites that have been in production for a while already.
You can very easily create custom URLs by clicking on that button in the sh404 administration panel.Then click 'New' to see the following page. Fill in the details as follows


You can find out more about Non-SEF URLs for your pages by following this separate FAQ: How do I see a page without showing it on my website?