Following the steps below will make your permalinks look like:
Visit the Settings > Permalinks page of your WordPress administration dashboard.
Select the Custom Structure option, and enter this value:
Click Save Changes
There currently is no way (that I know of) to include the taxonomy in the permalink. One way around this is to instead assign subcategories, which will be incuded in the permalink.
You can convert your existing taxonomies into top-level categories by visiting the Tools > Import page, and using the Categories and Tags Converter.
You can then convert the top-level categories into subcategories on the Posts > Categories page.