How to edit a URL/permalink?

Hello,

It is my understanding that when you create a post it takes whatever is in the Title field and uses that as the URL. For example Title: ‘Dogs Running Around’ would look like ‘/dogs-running-around’

I am wondering at what point that becomes a permalink. I work at an agency where someone had created a sample-post article and saved it; it was later revisited, edited and then published. This subsequently caused it to have a permalink as ‘/sample-post.’ Despite the article having a title, etc. We ended up having to redirect it due to this fact.

I am just wondering how we can edit the original permalink to destroy the ‘/sample-post’ and ultimately forego the redirect. Is this even possible?

Thanks!