How to organize URLs in web projects

There's plenty of resources that outline how URLs should be organized for RESTful APIs but for web in general there's little to be found.

How can I structure the URLs of the web pages so that they are

1. Sensible from the perspective of a user browsing the web
2. Sensible from a separation of concerns in a Spring framework controller

To apply some context let's assume there's groups that contains elements and there are uses cases to create, view, edit and delete both.