What I find in my web.config file is:
<friendlyUrl defaultProvider="DNNFriendlyUrl">
<friendlyUrl defaultProvider="DNNFriendlyUrl">
<providers>
<clear />
<add name="DNNFriendlyUrl" type="DotNetNuke.Services.Url.FriendlyUrl.DNNFriendlyUrlProvider, DotNetNuke.HttpModules" includePageName="true" regexMatch="[^a-zA-Z0-9 _-]" urlFormat="advanced" />
</providers>