Permalink SEO fiendly

Greetings,

I am learning while building my first Drupal website. I have being trying to change the permalinks for my pages as I think that format of node# is not SEO friendly, I would prefer using the title of the page as the link name.

Is there a setting, or something I can do to this us?

I appreciate.

Drupal version: 


Source: https://www.drupal.org/taxonomy/term/22/feed