I believe you have to set the property relaxedUrlToFileSystemMapping in your web.config. Haack wrote an article about this a little while ago (and there are some other SO posts asking the same types of question)
<system.web>
<httpRuntime relaxedUrlToFileSystemMapping="true" />
Edit
From the comments below, later versions of .NET / IIS may require this to be in the system.WebServer
element.
<system.webServer>
<httpRuntime relaxedUrlToFileSystemMapping="true" />