How can I make my blog urls have words of the title in them?

From the WordPress Codex, this is how to enable permalinks in your blog. From your admin dashboard on the left side go to Settings -> Permalinks

In the Settings → Permalinks panel (Options → Permalinks before
WordPress 2.5), you can choose one of the “common” structures or enter
your own in the “Custom structure” field using the structure tags.

Please note: You never, ever put your site url in the permalinks slot.
You must use one of the structure tags, or a combination of tags only.

http://codex.wordpress.org/Using_Permalinks

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