Change Permalinks In WordPress

I do not have a place where I can edit my permalinks so I can have it what I want.

Lets say I write a post my link to that post will be something like
url_of_my_website.com/?p=123

and I want it to be
url_of_my_website.com/tech_support

Any help would be greatly appreciated.

You can edit the permalinks from the dashboard panel of Wordpress.

Navigate to
Settings -> Permalinks and choose the desired permalinks for your blog.

Hope it helps..