Basically your joomla url is look like the below link which is difficult to understand for search engines like Google.
For this reason you need to make your joomla urls better understanding for search engines by enabling SEF from the joomla admin panel by following below instructions.
1. At first goto your joomla admin panel and then goto global configuration.
2. In global configuration, click on tab "Site"
3. Please make sure your settings are like the below image
4. Before completing this step, rename the file htaccess.txt to .htaccess.
5. Now save your settings and refresh your browser and see the result :)
6. Your joomla link will look like the below link