By default, all of the pages in an Invision forum are along the lines of index.php?showforum=XX and index.php?showtopic=XX
This is not too search engine friendly because of the query strings in the URLs. It's better to have clean URLs such as /showforum/XX/ or /showforumXX.html
I really don't have much experience personally with Invision to be able to help you do this. What I will say is that you need to use mod_rewrite in an .htaccess file to rewrite the URLs. Check out some other threads on mod_rewrite here to figure out how to do that.
Then, you'll have to edit your Invision forum templates. More specifically, the forum index and the actual forums showing the threads - and wherever it has a reference to go to index.php?... edit it out to look like threadXX.html or forumXX.html
Did that make sense? If not, I'll try to offer more assistance.