Can Pages Be Converted To Regular URL's Instead Of Generated URL's?

[TesterServers]

Hello all,

Is there a way to change the url's from...

http://www.mysite.com/index.php?main...roducts_id=528

to something like...

http://www.mysite.com/my-category-page.php
http://www.mysite.com/my-category/my-product-page.php

I'm trying to get my SEO back to where it used to be in Google.

Thanks for viewing!