First you need the RewriteEngine module on apache, add this to your .htaccess file

RewriteEngine On

# The following rule tells Apache that if the requested filename
# exists, simply serve it.
RewriteCond %{REQUEST_FILENAME} -s [OR]
RewriteCond %{REQUEST_FILENAME} -l [OR]
RewriteCond %{REQUEST_FILENAME} -d
RewriteRule ^.*$ - [NC,L]

# The following rewrites all other queries to index.php. The
# condition ensures that if you are using Apache aliases to do
# mass virtual hosting, the base path will be prepended to
# allow proper resolution of the index.php file; it will work
# in non-aliased environments as well, providing a safe, one-size
# fits all solution.
RewriteCond %{REQUEST_URI}::$1 ^(/.+)(.+)::\2$
RewriteRule ^(.*) - [E=BASE:%1]
RewriteRule ^(.*)$ %{ENV:BASE}index.php [NC,L]

# remove trailing slash
# RewriteRule ^(.*)/$ /$1 [L,R=301]
# To redirect all users to access the site WITHOUT the 'www.' prefix,
# (http://www.example.com/... will be redirected to http://example.com/...)
RewriteCond %{HTTP_HOST} ^www\.(.+)$ [NC]
RewriteRule ^ http%{ENV:protossl}://%1%{REQUEST_URI} [L,R=301]
RewriteCond %{REQUEST_FILENAME} !-d
RewriteRule ^(.*)/$ /$1 [L,R=301]

Then you need to have a router module on php to handle all urls that reach index.php
Something like this https://phprouter.com/