174249 URLs Search Engine Friendly

I currently have a php script that produces webpages from a MySQL database with urls such as [login to view URL] Instead of the page database id (?id=4) I would like the page URL to be something that includes the page title (is already included in the database) and eliminate the ? to make my pages more search engine friendly. This is an example of what I would like the URL's to look like. [login to view URL] I know this can be done with htaccess and a simple custom script that rewrites the url from a database number to a title.