To include the category, you select “Custom Structure” and change the value to
/%category%/%postname%/. If you previously had
?p=<postid>as your permalink WordPress will take care of all the redirects for you. This is also true if you change from
/%category%/%postname%/. If you change from any other permalink structure, you might want to consult our article on changing your WordPress permalink structure and the tool that you’ll find within it.
Realisation on snbchf.com
The structure of the links into snbchf.com is the same as adviced from Yoast.It is the best structure for web based wordpress site.