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Actually it is easy to enable Search Engine Friendly (SEF) URLs in Joomla. You only need to do a few steps to enable it.
- First of all, you need to rename htaccess.txt file to .htaccess in your Joomla root directory
- Then login to your Joomla back-end administrator page
- Go to Site -> Global Configuration from the main menu
- Click on the SEO tab and then set the radio button to “Yes” on Search Engine Friendly URLs