Welcome the Technical Support section. Help us in assisting you by providing us with a concise and descriptive elaboration of your issues. Be specific and if possible, provide us with a step-by-step instruction in replicating your problem.
There's not much I can do to help you, you can try using extension mentioned above, or hire a professional php developer for this task, check our oDesk page with list of recomended freelance developers here >
www.jomsocial.com/jomsocial-developers
You may try using some custom SEF extension, you can simply find it here > extensions.joomla.org this site is the biggest library of Joomla's extensions, so I'm really sure you'll find suitable extensions for your needs.