Dynamic Pages & SEO Friendly URL in sitemap

I have a website built with C# that has some dynamic pages. And I’ve recently added some code to allow using SEO friendly URLs.

For example, I have a page: “/products.aspx?itID=1” and you can access it with “/Product-Name” as well.

Should I be putting the SEO Friendly URL in my sitemap instead of the real URL? I think the answer is yes, but I’m very new to this and would really appreciate some confirmation from someone with more experience.