Default url and view i.e. about-us uses about-us.html template or 404's

Default url and view i.e. about-us uses about-us.html template or 404's

I am creating my urls.py and I don't want to specify every page within.
I am looking to create templates for url's likely to use static pages. For
example:
/about-us/ uses about-us.html template /contact-us/ uses contact-us.html
template
If a user goes to and .html doesn't exist this should 404.
What is the best way to do this? Is there a best practice approach?