Yep, moving to apache configurations.
This is backwards. Unless you have a specific index file to work with? Typically its the other way around, you would map a more textual representation to that of using the id's or names. I don't recommend going the other way around.
The url will show what the user types in. You cannot force that to change, only where it goes. So if they type in ?id=14, that is where they go and what they will see. You can write a replacer in PHP to have it provide the links in an expanded format, but I wouldn't recommend hard coding that since that now requires that mod_rewrite be in use. Declare an environment variable in the <IfModule mod_rewrite.c> block, and alter the links as desired in PHP.