Remap url

[eluser]Unknown[/eluser]
There are properly several post about this and I have tried to look, but I could not find a solution.

I want to remap this url:

http://domain.com/index.php/page/name

to this

http://domain.com/name

Al my links are ok, they link to different "http://domain.com/name

Al pages (name) are taken from a database so it have to be a solution that works at the hole site.

What is the right/easy way to do this?