You will need to be logged into the backend of your website as an administrator (default minimum access level)
EXAMPLE - I want to be able to deliver an easy URL to my customers like the following
If my link on how to find cats was
http://www.mydomain.com/cats/lostcats/how-to-find-them.html
But I wanted to be able to deliver neat and easy URL like the following
http://www.mydomain.com/findyourcat
Now select "View Edit SEF/URL" like in the image below

The sh404SEF URL manager will load.
Often there are several hundred URLs listed, even the smaller sites, so to find the correct link, use the filter text box shown below to type what you are looking for (shown below).

If you dont know what you are looking for, check the URL you are starting with. i.e. in our example above, we could type any of the the text from here cats/lostcats/how-to-find-them.html
Once you have found the URL in question, select it for editing and it will open up in the Edit URL window.