URLs: Dash vs. Underscore [closed]

Is it better convention to use hyphens or underscores in your URLs?

Should it be /about_us or /about-us?

From usability point of view, I personally think /about-us is much better for end-user yet Google and most other websites (and javascript frameworks) use underscore naming pattern. Is it just matter of style? Are there any compatibility issues with dashes?

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