specific Permalink for blog posts

I want to make a website with regular permalinks: example/com/about-us and example.com/services. I want a blog page with the URL to have the post name. However, I want that each URL should also have a /blog before it. So e.g. example.com/blog/post-name. I was thinking of using the custom settings in the permalink admin section of wp, but that would add /blog to every page, not just the blog posts. So how can I do that? Thanks for your help!