If you're using PHP, you may well be on an Apache server - in which case you can use Apache's mod_rewrite to provide restful URIs to your visitors.
Here is a short example:
RewriteEngine on
RewriteRule ^Search/([^/\.]+)/([^/\.]+)/([^/\.]+)/?$ search.php?key=$1&type=$2&term=$3 [L,NC]
This would translate
http://www.domainname/Search/books/title/Mission%20Impossible/
Into
http://www.domainname/search.php?key=books&type=title&term=Mission%20Impossible
The [L] means no further rules would be evaluated
The [NC] makes this case-insensitive (so "Search" and "search" would both work)