Yes, you need D-NAT (Destination NAT).
That thread may be little hard to follow.
In your case you need the following:
staic (dmz,inside) p.p.p.p d.d.d.d
Where p.p.p.p is the public address and d.d.d.d is the dmz ip address for this server that the inside hosts need access to. That staic says that if the inside interface sees a packet destined to p.p.p.p it is supposed to forward it to the dmz interface to the d.d.d.d ip address.
Do you have source translation for the inside network to get to the DMZ?
like identity translation?
static (i,d) i.i.i.i i.i.i.i where inside address is i.i.i.i
Good Luck.
-KS
