Once you finish your site, it is highly recommended that you configure your Search Engine Friendly URLs (SEF). For example, when creating a page in Joomla, by default the URL would look like this:
http://yourdomain.com/?p=16/
and if you use the SEF option in Joomla it will be:
http://yourdomain.com/article-name/
Setting SEFs for Joomla 2.5 or Joomla 3 is done with just a few clicks through the Joomla Administrator panel -> Site / System -> Global Configurations.
Locate the SEO Settings area, enable Search Engine Friendly URLs by setting them to Yes, then click the Save button.
For better SEO we advice you to enable to set Include Site Name in Page title to After, so that the titles are added to the URL.