What you’re looking for is a 301 redirect. I use two plugins to catch do this. One notify’s me of 404 errors ( http://wordpress.org/extend/plugins/404-notifier/ ) and the other makes writing the 301 redirects easy ( http://wordpress.org/extend/plugins/simple-301-redirects/ ).
You could also write the 301 redirects in your .htaccess file and dig through the server logs to find the 404 notices.
Long term you just need to wait for Google to crawl the site and find the new link structure. If other people are linking to your site from other blogs you can try and get them to fix their links but it’s unlikely that you’ll be able to get many people to do that.
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