How to change permalinks to show categoryname/post-name?

Without a link to the site in question, it’s hard to understand the exact problem. However, if the issue is the actual word “category” is being includes (i.e. example.com/category/category-name/post-name) then I would use this plugin (it’s one I use on almost every site)

http://wordpress.org/extend/plugins/wp-no-category-base/

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