You did not say which camera you have but the simplest way is to use in-camera RAW Development. On a Pentax DSLR for example, you basically choose Develop from the Playback menu, Select the files and press OK twice to accept development settings (or you can change them if needed). It will produce JPEG of the same root name as the RAW file, so they will be easy to match up.

For a camera that has no in-camera RAW Development feature, you should batch convert. Lightroom can do this in 2 steps: Import all images. Export all as Full-Resolution JPEG (that preset if there by default). I am sure tons of other batch RAW converters exist, depending on the OS, RAW support and their easy-of-use.

Note that there are many interpretations of RAW. If you convert in-camera, you will get exactly the same look, rendition, color, tone, etc as you would had you set the camera to JPEG. When you do this in Lightroom instead, you will get the Lightroom version of processing. It can be close but it will rarely match perfectly. There several questions about trying to match in-camera conversion and the answer is always that it is not possible.