Here's a video with some troubleshooting tips if your'e getting a 404 on a specific page of your website. This is a common thing I see when someone tries to change a permalink, but doesn't know what it actually is, or how to explain what they did. Hopefully this helps.
Also, just to prevent anyone issues related to this video:
1. If you are not getting a 404 or don't have any issues with your site right now, DO NOT change your permalinks. Just enjoy the learning from this video :)
2. DO NOT go in and change a bunch of permalinks to try to optimize for SEO! If you realize you made some kind of mistake, just move forward with posting and keep that in mind for the future.
3. Some themes will show "Custom Structure" and /%postname%/, which is basically the same thing as /sample-post/. If your URL matches your blog post title, then you are good to go.