Custom taxonomies


I have posts which sit within sub-categories of catergoies (there are several categories and serveral sub-categories within each category) eg.

        life (category)  > Mindfullness (subcategory) > What Does A Karmic Relationship Mean (post) 

At present when clicking on the subcategory btn on a post on the homepage, the url is /tag/subcategory as per the taxonomy default:

tag: /tag/{slug}/
author: /author/{slug}/

Is it possible to swap tag out to be the category name?:

tag: /{something here to access the category name?}/{slug}/

Any help would be great.