SEO friendly URL characters

Recently I am building a web site for internet users; and our team needed to structure the site URL to ensure it is SEO friendly.  After search, I found that a Uniform Resource Identifier (URI): Generic Syntax document, http://www.ietf.org/rfc/rfc3986.txt published by The Internet Society. In page 12, it mentions that what reserved characters are; which should not be used in your site URL.

reserved = gen-delims / sub-delims

gen-delims = “:” / “/” / “?” / “#” / “[” / “]” / “@”

sub-delims = “!” / “$” / “&” / “‘” / “(” / “)” / “*” / “+” / “,” / “;” / “=”

From Google Webmaster, it is recommended to use dash (-) instead of underscore (_).

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