Chaning URLs from #s to keywords

Hi, I’d like to know how to get the title or keywords in my blog post URL. Currently, the URL look like this:

https://truefire.com/blog/?p=820

and I’d like it to look like this:

https://truefire.com/blog/fireside-chat-vicki-genfan

I used the Lightword theme. Is this a plugin thing? I can’t seem to figure it out, so any help would be greatly appreciated. Thanks!