A site's url structure

Potentially noob question but…

I have a WP site that has a blog section, I notice that when I view the individual posts, the url looks something like “mydomain.com/post-title”. I can see that in WP settings, that’s exactly what it’s set up to do: mydomain.com//%postname%/

For blog posts though, what I’d like the url to look like is

mydomain.com/blog/post-title

Is this possible? If so, how? 🙂

Thanks!