The issue here is not with your scripting language, but with your web server setup. I'll refer to these by their Apache names, but the features should be available in most web servers.
There are three features you might want to use:
1) content negotiation (mod_negotiation), which allows your web server to try a specified list of extensions in a specified order, for example: http://example.com/foo might be http://www.example.com/foo.html or http://example.com/foo.php
2) DirectoryIndex, which tells the web server that when a client asks for http://example.com it should look for a specified list of files in order, so it might server up http://example.com/index.html or http:/example.com/index.php
3) mod_rewrite, which allows you to basically rewrite the URL format received by the server. This allows you to do things like translate http://example.com/foo/bar/baz to http://example.com/foo/bar.php?page=baz
The rest is done by the backend script code as normal.