Changing your permalink structure can have some real benefits for your WordPress website not just for SEO purposes but making it much more user friendly as well. Here is a short video showing you how to do this for your Website, my suggestion would be to use the /%category%/%postname%/ (<- copy and paste it) structure which will change your URL’s from the default www.yoursite.com/?page_id=123 to  www.yoursite.com/category/postname which is much more beneficial.