I like to chang my id number to my post title in php

I like to chang my id number to my post title in php

I am useing this function in php http://domain.com/page.php?do=post&id=124
but i am to change in this URL http://domain.com/page.php/this is first
post.html
How to change this URL please tell me, I am the new in php class
Thanks Advance