This isn't about creating Search Engine Friendly URL's, if you are looking for one
RD has one.
Until recently I was not a big fan of these url's as I liked the old fashioned file.php?id= type link, but search engines aren't the best at indexing that type of url so I decided to switch.
Some advice when implementing these URL's:
Includes are done at server side so they are fine to be left as they are
If you have a style sheet, instead of 'includes/style.css' use 'http://domain.com/includes/style.css' as if your url is domain.com/news/05/index.html it will think the style sheet is at domain.com/news/05/incudes/style.css.
Same goes for links, use the full url.
Also check the image urls are the full ones.
Be careful with the url's, I add index.html to my urls as if I ended it news/05/ then its easy to make a mistake, for example if I link to news/05 it will give a page not found error, take myspace for example if you link to your profile say myspace.com/somerandomexample and you post a link too myspace.com/somerandomexample/ it will give the user a page not found error
The reason for this is because your computer renders the html side as far as that knows the url you are viewing is the directory/file in the address bar so renders it as it would any html file.
Search Engine Friendly URLs are mostly about trial and error, when you implement them try all the links and check everything appears as you want them to appear.