My problem was that I had many pages that I wanted normal permalinks for and blog posts that I wanted to be prefixed with ‘blog/’. Well there is a plugin called Post Format Permalink that will fix this problem for you.
Simply install it using WordPress.
Go to Settings > Post Format Permalink and in the input field type ‘blog’.
Next, go to Settings > Permalink and type ‘/%format%/%postname%/’ under the Custom input field.
All you blog posts now should fall under /blog/post-name rather than just post-name. All the pages should remain in the same location.