How to change the URL of Blog

Hi

I have a wordpress website on lets say https://www.mywebsite.com and I would like to add blog to it – https://www.mywebsite.com/blog and I would like each post to be on https://www.mywebsite.com/blog/post-title however as a default all post look like this https://www.mywebsite.com/post-title.

Is it possible to change it to https://www.mywebsite.com/blog/post-title ?

Thank you