In order to use Joomla's built in SEF Urls feature, you must first enable it. To do so, go to the backend of the site (/administrator) and go to the "Site" tab and select "Global Configuration."

On that page you will see the following:

Set the "Search Engine Friendly URLs" to Yes and the "Use Apache mod_rewrite" to Yes.

You will next need to rename the htaccess.txt file in your root directory to .htaccess as seen below:



That is all there is too it. Joomla will now automatically change all your standard dynamic URLs in your content items to more friendly URLs.