Start with setting rewrite engine and follow sym links
RewriteEngine On
# Drop the .php -- or any other extension you use.
RewriteRule ^index\.php$ - [L]
RewriteCond %{REQUEST_FILENAME} !-f
RewriteCond %{REQUEST_FILENAME} !-d
RewriteRule . /index.php [L]
#Forces the site to switch to www.site.com - change the site/TDL below
RewriteCond %{HTTP_HOST} ^insuranceiwant\.com$
RewriteRule (.*) http://www.insuranceiwant.com/$1 [R=301,L]
Now name your pages something useful like site.com/contact-us
If you are pulling dynamic pages from a database, also add this:
Options +FollowSymLinks
Options +Indexes
RewriteRule ^([A-Za-z_]+)_([A-Z]+)/([A-Za-z0-9_-]+)$ /Resources/city.php?state=$1®ion=$2&city=$3
That example shows that the dynamic page has a state name, state abbreviation, and a city pulling from the database and showing the page like so:
insuranceiwant.com/California_CA/Los_Angeles
For more information on regular expresion for your page names check out this useful site:
http://www.regular-expressions.info/