Assuming you are using PHP and can alter your source code (this is quite mandatory to get the article's title), I'd do the following:
First, you'll need to have a function (or maybe a method in an object-oriented architecture) to generate the URLs for you in your code. You'd supply the function with the article object or the article ID and it returns the friendly URL with the ID and the friendly title.
Basically function url(Article $article)
=> URL.
You will also need some URL rewriting rules to remove the PHP script from the URL. For Apache, refer to the mod_rewrite documentation for details (RewriteEngine
, RewriteRule
, RewriteCond
).