pages_controller.rb

def show
  @category = Category.find_by_permalink(params[:category])
  @page = @category.pages.find_by_permalink(params[:page])
end

routes.rb

map.category_page ':category/:page', :controller => 'pages', :action => 'show'

show.html.erb

<!-- show for category demonstrating page links -->

<% for page in @cateogry.pages %>
  <%= link_to h(page.name), category_page_path(@category.permalink, page.permalink) %>
<% end %>