Forwarding Permalinks

Hi my current perma link structure is:

https://domain.com/year/month/day/post-name/

and I want it to be

https://domain.com/posts/postnumber

, I know how to make the change, however if someone does a search on Google and one of my posts shows up on that search the permalink will be wrong and then they will be directed to an error page. How do I make the change so that all of the old permalinks will be forwarded to the new one?

Thanks , Ian