The sh404sef and JoomSEF plugins support multiple categories now. See an example here .
This demo runs the free version of JoomSEF. Download it here .

Furniture

Lorem ipsum dolor sit amet, consetetur sadipscing elitr, sed diam nonumy eirmod tempor invidunt ut labore et dolore magna aliquyam erat, sed diam voluptua. At vero eos et accusam et justo duo dolores et ea rebum. Stet clita kasd gubergren, no sea takimata sanctus est Lorem ipsum dolor sit amet.

There's no place like home!

Ball Chair

Ball Chair

A teaser description with a few lines of text. Lorem ipsum dolor sit sed diam nonumy vero.
Bibendum Chair

Bibendum Chair

A teaser description with a few lines of text. Lorem ipsum dolor sit sed diam nonumy vero.
Lobster Chair

Lobster Chair

A teaser description with a few lines of text. Lorem ipsum dolor sit sed diam nonumy vero.