Permalinks to pages

It seems Permalinks are focused soley on posts, and I have a pages only CMS site which needs better links than ?page_id=21 etc. I did read thru this:

Permalinks to pages don't work
    If you've tried to navigate to a newly created Page and encounter an error, you likely need to update your Permalink structure. Remember, each time you add a new static Page to WordPress, new rules must be generated and updated to .htaccess (WordPress 1.X) or to the internal rewrites array (WordPress 2.X).

which is here, however looking for how to alter “internal rewrites array” I have not found any information. Can anyone point me to where “internal rewrites array” is and how to alter it so that I can get some decent links in my menu?
thanks,
JSC