i have over 100 urls on my site i need to move:

• /page/how-to-bake-chocolate-cookies/ will go to: /cookies/how-to-bake-chocolate-cookies/
• /page/contact/ will go to: /contact-us/

etc...

i want to make sure the search engine will catch the new url without affecting my site (quality, ranking, etc....)

is there any i can accomplish this without causing error (like 404) and make sure the search engine will index correctly my new pages?