Google and other search engines consider hyphens (-) as word-separators. By using them you make your urls more readable for both people and search engine robots. The same is true for plus signs (+), but don't use underscores (_), as they are not considered word-separators by search engines.
In a word, there's a reason why everyone uses hyphens.
As far as Google goes Matt Cutts, who works for Google, has posted a YouTube video where he says that dashes and hyphens are treated as word separators and underscores are not.
I was going to post the link until I seen thats not allowed here.
If you would like to watch you can Google "Should I use underscores or hyphens in URLs?" to easily find it.
ok here is the link to the Matt
Cutts video. Consider this to be the official word on it from Google, straight from the horses mouth.
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