When updating URLs on a site or transferring your site to a new domain name where you want older,existing content to still work, you should configure a permanent (301) redirect for each of the pages or sections that will contain a new url.
You'll want to use a temporary or 302 redirect if the page will only redirect for a short period of time.
I'm not familiar with the Yoast Pro plugin, but it seems like this would work. Just make sure that they utilize the proper redirect method (301 vs 302) when configuring the plugin.
Another option would be to configure the .htaccess file in the root web directory, but this isn't for the faint of heart if you're not familiar with configuring a web server!