How to modify “digital link” to “context link” in WordPress blog ?

Dear sir,

First, I like to define “digital link” by one example as
https://articlesinbusiness.com/?cat=19, I call “/?cat=19” is a “digital link”.

and “context link” example is https://www.articlesinbusiness.com/autoblog/category/insurance/
you can see no digit in this link.

the above-mentioned two links all were built with WordPress, generally,the WordPress blog links were expressed by the first “digital link”.

What are the procedures to change from “digital link” to “context link” ?

Thanks

Evan