One of the questions we get a lot from WordPress novices is about permalinks. What the best practice is and what we recommend. We adopt our strategy straight from Google's SEO guide, where they make several comments about the importance of setting up site structure and a page hierarchy. Our opinion is that you can't over-organize your website. This is true for everything from the sitemap, to your categories and permalink structure. Your permalink should always include the post title, so www.yourdomain.com/post-title.
In WordPress you will navigate to Settings > Permalinks, then select Custom Structure and input this value into the field: /%category%/%postname%/
Your blog post permalinks will now look like this: www.yourdomain.com/category/post-title