As suggested in the below post translation in CUCM is easy way but If you use the voice translation rules on gateway you will need to apply the rules to the incoming dial-peer. And also make sure you have a voip dial peer to match the pattern 1010 and send the calls to CUCM.
voice translation-rule 1 rule 1 /^0855345621$/ /1010/ voice translation-profile TEST translate called 1
Apply to inbound dial-peer
dial-peer voice 5 pots translation-profile incoming TEST incoming called-number ^0855345621$
Apply to outbound dial-peer:
dial-peer voice 50 voip destination-pattern ^1010$ session target ipv4:126.96.36.199