Go to AdminCP > Forums & Moderators> Forum Manager> Edit each forum you want to appear under the category> Scroll down to Parent Forum (5th option or so down I think), and select the category you want the forum to appear under.
If you have not setup any categories yet, just create a new forum with the title of the category that you want, and make sure you set the option of Act as Forum: to no.
Hope this helps.
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