URL Paths Including Taxonomy

I was wondering if there was a way to have a page’s taxonomy show up in its URL when linked from the taxonomy itself? These pages are typically rendered under the “pages/[file-name]” url but I’d like to also render them under “[track-name]/[file-name]” without having to duplicate the file. I’m asking this because a page can show up under several taxonomies so I’d like to set up URLs for each taxonomy if possible - thank you!