PHP and URL's

[ZInventor]

We have a PHP website running on an Apache server, and want our current, query url's to look like normal urls (url instead of query string)

i think this can be done in apache, but don't know how.

basically, the website gets pages like this:

base URL =http://www.riverdalerobotics.com/

about us page: http://riverdalerobotics.com/?us

we want it to look like this:
http://riverdalerobotics.com/us

but, we don't want to have a ton of little tiny PHP pages everywhere on the server...

we only want it to LOOK like they are actual urls, but really be query's (have apache convert from query to url and back... so that the user sees the illusion of a real URL.

if you know of a way to do this your help would be much appreciated!

thanks,

-Z