Hi omprakashbalda1,
yes, you can configure PBR on Firepower starting on version 6.2 (I am considering that you are using FTD, right?).
No, you can´t do that based on URL. As an inherited feature from ASA you only can do PBR based on layer 3 and layer 4 attributes that you specify using ACL.
The configuration is done through Flexconfig.
Have a look on this video, it may help:
https://www.youtube.com/watch?v=lakHhw9CR5Y