PLEASE HELP - Change url to text

Hello

I want to change MY_PAGE_URL/ "some numbers and sings ----?page_id=2---"
to

MY_PAGE_URL/ my_text_here

It wont let me put any URLs here but what I mean is after my site domain end then a slash and it makes a link with numbers and signs I want to change it to my custom text.

Do I need a plugin or what, I also have "Yoast WordPress SEO" installed

Any advice is appreciated, thank you

In what way will you be using this?

To help my search results in google. I have read that if keyword is in URL it will help search results

This seems like your trying to setup your permalinks. Whats more friendly with readers who are at your website, will be "post name" then a "id or page #".

On wordpress go to settings, and it ask "post name"