You want to use Mod_Rewrite to keep your URLs pretty, that's the best way to maintain SEO. Try this article; The Basics Of Mod_Rewrite, I made it and people have found it really handy.
I am making website in PHP. I want to know whether it is possible to do better SEO for dynamic website or not. If yes then how can I do it? Can anyone provide me a better guide for it?