Custom Taxonomy in Permalink from post type

Set your taxonomy slug to taxonomy_name and in your post type set the slug to taxonomy_name/%taxonomy_name_term% and flush rewrite rules (simply by going to permalink settings panel in the admin) And after that WordPress will be able to handle /taxonomy_name/%taxonomy_name_term%/post-name/ URLs.

So all that is left to do is tell WordPress what %taxonomy_name_term% means and for that just add this function to your theme’s functions.php file:

add_filter('post_type_link', 'events_permalink_structure', 10, 4);
function events_permalink_structure($post_link, $post, $leavename, $sample)
    if ( false !== strpos( $post_link, '%taxonomy_name_term%' ) ) {
        $event_type_term = get_the_terms( $post->ID, 'TAXONOMY_NAME' );
        $post_link = str_replace( '%taxonomy_name_term%', array_pop( $event_type_term )->slug, $post_link );
    return $post_link;

Make sure you replace TAXONOMY_NAME with the actual name of the taxonomy.