Hello this can be done using static NAT.
"
Static translation establishes a one-to-one mapping between your inside local address and an inside global address. Static translation is useful when a host on the inside must be accessible by a fixed address from the outside."
SUMMARY STEPS
1. enable
2. configure terminal
3. ip nat inside source static local-ip global-ip
4. interface type number
5. ip address ip-address mask
6. ip nat inside
7. exit
8. interface type number
9. ip address ip-address mask
10. ip nat outside
----
example
ip nat inside source static 10.0.0.1 200.174.10.100
your internal IP 10.0.0.1 would be reachable from outside, they only need to point to 200.174.10.100 (ip of the outside interface)
check the link:
http://www.cisco.com/en/US/products/ps6350/products_configuration_guide_chapter09186a008044eddc.html#wp1074422
If this helps, please rate the post.
thanks,
Vlad