Including Custom Taxonomy in permalink for CPT

I’m sure I’m only overlooking something simple. I’ve created a CPT and a Custom Taxonomy relative to that. I can’t figure out how to include the Custom Taxonomy as part of the permalink that is generated.

For example,

currently I have http://www.xyz.com/testimonials/postname, where testimonials is the CPT. This is ok.

Within testimonials I have set up “Testimonial Categories”, and I would like for the permalink to become:

http://www.xyz.com/testimonials/testimonialcategory/postname

What am I missing?

Thanks!

http://wordpress.org/plugins/custom-post-type-ui/