[wp-hackers] Permalink problems

[RePost]

Harish Narayanan wrote:
> I would suggest you pick a human-readable URL style that you will never
> change in the future. As useful as /?p= style links are, human beings
> will probably never use them, so in essence even your 'friendly URL'
> style is frozen. Choose wisely and keep it fixed.
>   
Lots of helpful information there. I've used your method to correct a 
lot of the bad urls, so the site's looking a bit better.

On this one highlighted point, my question would be, is it OK -- 
Googlewise -- to use the default (/?p=) style for internal links, 
knowing that they will be forwarded to the friendly urls by the 301 
redirect in my .htaccess file?

Or am I creating a redundancy problem for Google by allowing friendly 
url Permalinks while I continue to point to those default urls?