Changing URL's from Underscores to Dashes

We have several pages that use underscores to separate words in the
URL. We have read that dashes are better than underscores in URL's
because Google recognizes words separately that have dashes between
them... where on the other hand, Google combines words that have
underscores between them.

My question is this... we want better SEO of course... so what is the
best way to change the pages that have underscores in the URL to
dashes in the URL? There could be several pages.

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