To make

http://www.yoursite.com/Home/tabid/56/Default.aspx

look like

http://www.yoursite.com/Home.aspx

You need to do something with web.config:

Add   ---- urlformat="HumanFriendly"  so your web.config will look like this:

============================
<friendlyUrl defaultProvider="DNNFriendlyUrl">
      <providers>
        <clear />
        <add name="DNNFriendlyUrl" type="DotNetNuke.Services.Url.FriendlyUrl.DNNFriendlyUrlProvider, DotNetNuke.HttpModules" includePageName="true" regexMatch="[^a-zA-Z0-9 _-]" urlformat="HumanFriendly" />
      </providers>
    </friendlyUrl>
============================