Making Pages Static

Hi all,

I am wondering how to make pages static or at least more SEO friendly. I’m sort of new to WP and can’t figure it out. Right now if I make a page it looks like…

http://www.domain.com/?page_id=27

I’d like it to look something more like…

http://www.domain.com/some-stuff/

or

http://www.domain.com/some-stuff.php

and I’m just looking for the easiest way to do this. Any suggestions?