You need to use .htaccess and modrewrite to do this. But you can't change id numbers to the required text so the best way to get it working you you need is to add another column to your database table that will hold your friendly url page name, so lets say you add a column called page_title and for each page add a friendly title (without spaces) like our_history.
Then your links would be set up like this
HTML Code:
<a href="/<?php echo $row['page_title']; ?>">
The .htaccess file would then be set up like this
Code:
RewriteEngine On
RewriteEngine On
RewriteRule ^([a-zA-Z0-9_-]+)$ index.php?page_title=$1
RewriteRule ^([a-zA-Z0-9_-]+)/$ index.php?page_title=$1
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