Hi Jeff,
You can do this without having to access IIS by doing the following:
1. Create Global.asax in your website
2. In Application_BeginRequest you can add code to detect what URL has been specified and then do a rewrite to the actual URL you require to display that page, e.g.
string targetUrl = ""; // This needs to be the actual URL you're trying to map the friendly URL to, so you'll need some code to pair the two together
HttpContext.Current.RewritePath(targetUrl);
Remember you'll probably only want to do this for .aspx files! Css, images, etc., should probably be allowed to do their "usual" thing without rewriting.
I found this article by Scott Guthrie to be very helpful with understanding URL rewriting: http://weblogs.asp.net/scottgu/archive/2007/02/26/tip-trick-url-rewriting-with-asp-net.aspx