Changing the type of url in wordpress

Hi,

the site https://www.bestbooks4children.com. in trying to use a bookmarking submission software called socialbot i am getting many errors. the guy at socialbot told me it’s because some of the pages i’m submitting are not friendly urls such as the following: https://www.bestbooks4children.com/?p=109&preview=true.
as there are ‘?’ and and ‘&’ symbols near the end. the bookmarking sites don’t like that and don’t accept the submission.

he said there’s a way in wordpress to change your url or blog to a friendly url. Does anyone know how to do this?

Thanks, joe