I installed WordPress SEO and it advised me to let it change page and post URLs to include page and post titles instead of page numbers. I did this. I then changed the site url to the domain name for the site (the site wordpress installation is at ttpsoftware.com and the site domain name is kelownachiropracticclinic.com). Now clicking a navigation menu results in a page not found error. Also, when I test the site map with Google Webmaster tools it shows an error.
Is there a way to set the page and post urls back to the WordPress default format?