SEO friendly urls http://example.com/mymethod,name_of_article,2

[eluser]jacobson[/eluser]
Hello I wanted to create more friendly urls for my CI application with a structure : http://example.com/mymethod,name_of_article,2. How can I make my app to examine URL like this and take it's 1'st parameter as method in the controller, second as the name of article (for SEO) and last - article ID.

Thx for help