Custom Taxonomy in page permalinks

Hi,
I have a hierarchical custom taxonomy associated with pages, and would like to get the slug of the taxonomy in the permalink before the pagename – for example www.mysite.com/taxonomy/postname

I’ve tried following various tutorials on the web, but just can’t get it to work properly – can anyone talk me through what the permalink structure should be and the code that I need to add (if any) to re-write parts of the permalink?

Thanks in advance
Jon