Look in the Admin -> Weblog Admin -> Global Weblog Preferences.
Click the first option to Yes.
Keep the magic word as “category”.
Give that a try, that should allow you to use just the word category + the category title to load content.
So your link will look index.php/faq/category/category_url_title
Also, keep this is mind too:
/faq/ <- this is template group name.
/index/ <- this is the template you want EE to use to display content. !important!
/category/ <- reserved word to trigger the load content by category.
/category_url_title/ <- name of the category.
So really, your link should look like this:
index.php/faq/index/category/category_url_title/
I am pretty sure you need to have the template name in there.