Ok I will first explain exactly what I am trying to achieve.
I have pages like mydomain.com/category?id=5
I want them to be mydomain.com/categoryname
So instead of saying category?id=5, I want it to display the name of the category from the database.
Also when I create more categories in the admin, I then want these new pages to automatically update with the url like this.
Please let me know how this is accomplished.