Moving blog articles from root to /blog/

I migrated a service industry website from Wix to a self-hosted WordPress about 10 months ago. At the time I setup my blog at /blog, and made the wrong choice by having my articles appear not under /blog, but instead at the root of the domain e.g. example.com/how-to-brush-your-teeth.

How do I nest all of my individual articles under /blog/how-to-brush-your-teeth instead of at the root, and is there someplace I set this so that it’s correct for all new blog entries?

Thanks!