Assuming you're using REST (far better, IMO), although your map.connect 
would make me think otherwise...

map.resources :tutorials,
  :controller => "categories"
  :path_prefix => "/category/:category_id",
  :name_prefix => "category_"

should yield /categories/category.id/tutorials/tutorial.id
and category_tutorial as a named route, with a link something like this:

<%= link_to 'Next lesson',
category_tutorial_path(:category_id => @category.id,
:id => @NextLesson) %>

I think, although your @NextLesson seems bizarre.

If that doesn't work, have you done a  "rake routes >routes.lst"
then looked at your routes.lst to see what routing you actually have? 
Rails will match the first route it finds given the inputs in the 
specified order.

http://api.rubyonrails.org/classes/ActionController/Resources.html

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