query string / uri segment

Hi, Just installed WordPress and bbPress forum.

I have urls like this:

http://www.example.com/?page_id=2
http://www.example.com/?forum=test-forum

I am wondering if its possible to turn them into uri segments:

http://www.example.com/page/sample-page
http://www.example.com/forum/test-forum

Thanks,
L.