replace Question mark to / for parameter ultimate urls

Hello,every one.
Please help us to make some friendly urls.
the zen cart ultimate urls were friendly,but the urls will don't friendly when with parameter.
as: replace the "?" to "/"
http://www.targetmarts.com/womens-ha...ort=20a&page=2 to
http://www.targetmarts.com/womens-ha...ort=20a&page=2

http://www.targetmarts.com/christian...a&filter_id=13 to
http://www.targetmarts.com/christian...a&filter_id=13

etc

anyway,i want the urls as
domain/christian-dior-m-17?sort=20a&filter_id=13 to
domain/christian-dior-m-17/sort=20a&filter_id=13

In accordance with RFC3986, what is *specifically* requested is not supported by the http protocol scheme. The information that is provided at the end of that uri (?sort=20a&filter_id=13) makes up the query component and must begin with a question mark (?). However, that said, appending an additional slash just prior to the question mark *is* acceptable. This also perhaps may be what was in mind, but was not specifically requested.

Ie. Instead of
domain/christian-dior-m-17?sort=20a&filter_id=13
To have:
domain/christian-dior-m-17/?sort=20a&filter_id=13

I question though what the source is about the uri not being "friendly" if a query component is included.