Hello,
Please navigate to Settings > Permalinks, select Post name, and save the changes.
https://postimg.cc/q6vtWdtS
For example:
Default: https://example.com/?page_id=123
Custom URL: https://example.com/about-us
If you would like to set a custom URL (slug) for a page, navigate to Pages > All Pages and edit the page you want to modify.
In the editor, locate the Slug field and enter the desired URL slug:
https://postimg.cc/7bh0Bggz
After saving the page, the new URL will be applied.
Best Regards