First, I went into my settings, and for the Blog address (NOT the WordPress address) I added index.php to the end. At that point, my permalinks worked, but the old ones all had to be redirected.
I installed the redirect plugin, and then input the new permalink structure in the second box (titled Path pairs to redirect from and to)
and put my old structure (without the index.php in the address) in the third box (titled Old Permalink Structure).
I couldn’t figure out how to get it to work without the index.php.