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It's important to have the keywords incorporated into URLs to increase relevancy, stay semantic, and for higher rankings.
The structure of your URLs is truly important.
Semantic URLs are written with hyphens (-).
In structuring and naming of your website's URLs, it's important to be semantically correct by using hyphens to separate words, not underscores, periods, or anything else (save for referencing files - index.html for example).
Here's an example of a blog post with a semantically correct URL string, with our "_SEO for beginners_" keyword phrase:
https://scottmathson.com/blog/seo-for-beginners/https://scottmathson.com/blog/seo-for-beginners/
An example Google SERP (search engine results page):
Certain website CMS or tools will add category, date, or tags to URLs.
Namecheap is my go-to for registering domain names. I've tried a variety of services throughout the years, but Namecheap is hands-down the best provider, with consistently great prices.