I need to change my simple URL to SEF URL (or clean URL).

Hi,
I need to change my simple URL to SEF URL (or clean URL).
All of my URLs looks like that:
http://domain.com/index.php?a=34&id=3&com=s
I need it to look like that:
http://domain.com/article/php-fun.html

additionally, I need to totally block the non-SEF URL.
My questions are:
1- How to set the SEF URL configuration
2- How do I redirect users from the non-SEF URL to the SEF-URL

 

You should look at this thread:

http://forums.digitalpoint.com/showthread.php?t=23044