How can i get better looking request parameters in my url with htaccess

Question

I am making an online shop and I was wondering, how do sites like amazon, facebook, twitter, etc get their url to look like yoursite.com/page/1/page-title instead of yoursite.com/page.html?id=1&title=page-title

my current .htaccess file looks like this:

RewriteCond %{REQUEST_FILENAME} !-d 
RewriteCond %{REQUEST_FILENAME} !-f 
RewriteCond %{REQUEST_FILENAME}.php -f 
RewriteRule ^(.*)$ $1.php [L] 
RewriteCond %{REQUEST_FILENAME}.html -f 
RewriteRule ^(.*)$ $1.html [L] 

RewriteCond %{REQUEST_FILENAME} !-d
RewriteRule ^(.*)/$ /$1 [R=301,L]

Options -Indexes