It's pretty simple :
public function myAction()
{
$url = $this->generateUrl('blog_show', array('slug' => 'my-blog-post'));
}
Inside an action, $this->generateUrl is an alias that will use the router to get the wanted route, also you could do this that is the same :
$this->get('router')->generate('blog_show', array('slug' => 'my-blog-post'));