You will want to use /%postname%/
Go into your dashboard>Settings>Permalink and choose the option "Post Name".
Choosing Post Name make your URL just show the domain name and page/post.
For example on my website http://howtobuildablog.net and viewing the past "How to start blogging", you would see in the URL field http://howtobuildablog.net/how-to-start-blogging/
Note their is no dates or any other garbage in the URL. - just a clean title for the location of that page on this site.