permalinks structure to include blog page

Hi All,

I am struggling to get my permalink structure right. I want it to be http://www.website.com/blog-title/article-title. My blog is a page I created, so not the default wordpress blog page. I used the Custom Permalinks plugin but noticed after a little while that it is not compatible with WordPress SEO by Yoast, it had all pages saying the keyword was not in the URL when it clearly was. Once I deactivated it started saying they were in the URL again but now my custom structure is gone, therefore all my share links for my blogs posts so far are now going to lead to my 404 error page. I just want to be sure my website structure is good for Google and other search engines.

I use Enfold without a child theme and I am hoping not to have to mess with the code.

Please help, thanks!