Hello Scot,
You can use the static command in combination with an access-list to setup access for inbound connections. For example, if you have a host 192.168.1.110 on your inside network, which is publicly available on 10.10.10.110, and a webserver is running on it, you can use the following commands:
static (inside,outside) 10.10.10.110 192.168.1.110 netmask 255.255.255.255
access-list acl_outside permit tcp any host 10.10.10.110 eq 80
access-group acl_outside in int outside
The static commands tells the pix that the outside address 10.10.10.110 belongs to the inside address 192.168.1.110. Optionally you can specify the maximum number of connections allowed for that entry (see the manual for the static command).
The access-list entry tells the pix that anybody can connect to the ip-address 10.10.10.110 for port 80 (http)
The access-group command tells the pix to use access-list acl_outside on incoming traffic on the outside interface
Check out the example of a mailserver on the inside network at
http://www.cisco.com/en/US/partner/products/hw/vpndevc/ps2030/products_configuration_example09186a0080094466.shtml
Hope this helps,
Kind regards,
Pieter-Jan