The module will make this change directly from the module options when you click on the "Enable SEO Friendly URL Provider" button on Globals tab!
Your original web.config file will be saved in module install folder with an extension .resources
<!-- HttpModules for Common Functionality -->
<httpModules>
<!--add name="Authentication" type="DotNetNuke.HttpModules.AuthenticationModule, DotNetNuke.HttpModules.Authentication" /> -->
<add name="Compression" type="DotNetNuke.HttpModules.Compression.HttpModule, DotNetNuke.HttpModules.Compression"/>
<add name="RequestFilter" type="DotNetNuke.HttpModules.Compression.RequestFilter.HttpModule, DotNetNuke.HttpModules.Compression" />
<!-- <add name="UrlRewrite" type="DotNetNuke.HttpModules.UrlRewriteModule, DotNetNuke.HttpModules.UrlRewrite" /> -->
<add name="UrlRewrite" type="DNNMasters.SEO.URLProvider.UrlRewriteModule, DNNMasters.SEO.URLProvider" />
<add name="Exception" type="DotNetNuke.HttpModules.ExceptionModule, DotNetNuke.HttpModules.Exception" />
<add name="UsersOnline" type="DotNetNuke.HttpModules.UsersOnlineModule, DotNetNuke.HttpModules.UsersOnline" />
<add name="DNNMembership" type="DotNetNuke.HttpModules.DNNMembershipModule, DotNetNuke.HttpModules.DNNMembership" />
<add name="Personalization" type="DotNetNuke.HttpModules.PersonalizationModule, DotNetNuke.HttpModules.Personalization" />
<add name="ScriptModule" type="System.Web.Handlers.ScriptModule, System.Web.Extensions, Version=1.0.61025.0, Culture=neutral, PublicKeyToken=31bf3856ad364e35" />
</httpModules>
<friendlyUrl defaultProvider="DNNFriendlyUrl">
<providers>
<clear />
<!-- <add name="DNNFriendlyUrl" type="DotNetNuke.Services.Url.FriendlyUrl.DNNFriendlyUrlProvider, DotNetNuke.HttpModules" includePageName="true" regexMatch="[^a-zA-Z0-9 _-]" /> -->
<add name="DNNFriendlyUrl" type="DNNMasters.SEO.URLProvider.DNNFriendlyUrlProvider, DNNMasters.SEO.URLProvider" includePageName="true" regexMatch="[^a-zA-Z0-9 _-]" urlFormat="HumanFriendly" />
</providers>
</friendlyUrl>