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In the Joomla Backend -> Site -> Global Configuration -> Site on the right side is SEO Settings.

SEO SettingsSearch Engine Friendly URLs
Yes

Use URL rewriting
No

Adds Suffix to URL
No

Unicode Aliases
No

Include Site Name in Page Titles
No

try turning URL rewriting on and Adds Suffix . this will fix the URL from this
www.fbcamboy.com/index.php/pastor-s-corner
to this
www.fbcamboy.com/pastor-s-corner.html
you will have to rename htaccess file if I'm not mistaken.

It should also work with the settings like Jeff has. But of course I agree with Andrei that they look better with URL rewriting enabled

I know there is a bug in Joomla related to this, but I have to check my mails at home first to see what it was exactly. And I thought I had a workaround for it implemented. But you never know...

Just so I understand, I already have a file named .htaccess. I am going to rename that to what? Is that file then recreated?

the one that is there you can rename to htaccess.old and there should be one labeled htaccess.txt or something like that. you need to rename that one to .htaccess you might need to remap your menu items afterwards, otherwise you can get errors.