Help with proper URL/URI setup

[eluser]rt30000[/eluser]
I've spent some time trying to get this project halfway working to show my issues better than I can translate:

Here is the test URL: CI Project Link

As you can see, I just cannot figure out URLs or URIs. I have to use "index.php/page/index/4" (where 4 is the $id of the page to display) rather than a more friendly url. You can click through the pages, all the top level ones are there. The home page, because it has no $id (just goes straight to default controller "page") throws two errors. Ideally, I would like more clear urls and remove the index.php. I tried using .htaccess but I think my server is not accepting it. Is that the first step I need to solve?

I really appreciate any help you can lend me...this is my first stab at MVC. Everything on those pages is based off a single template (with sub views), a model and the Page controller. I think i'm beginning to understand the basic concept.

Here is my controller just in case it helps.

Code:

<?php

class Page extends Controller {
    
    function Page()
    {
        parent::Controller();
        $this->load->model('page_model');
    }
    
    function index($id)
    {
        /* Determine which page this is by using supplied id... */
        if (!$id) $id=1;
        
        /* Load necessary data for template */
        $template = $this->_setup_page($id);    
        
        /* Load master page view and pass along required template parameters ($template) */
        $this->load->view('master_view', $template);
    }
    
    function _setup_page($id)
    {
        $page_data = $this->page_model->get_page($id);
        $site_data = $this->page_model->get_site_info();
        
        $template['page_title'] = $page_data['page_title'];
        $template['body_class'] = $page_data['body_class'];
        if ($page_data['header_img'] <> '') {$template['header_img'] = base_url().'public/img/'.$page_data['header_img'];} else {$template['header_img'] = '';}
        $template['background_img'] = base_url().'public/img/'.$page_data['background_img'];
        $template['page_headline'] = $page_data['headline'];
        $template['page_headline_img'] = base_url().'public/img/'.$page_data['page_headline_img'];
        $template['page_content'] = $page_data['page_content'];
        $template['footer'] = $site_data['footer'];
        $template['display_featured_prod'] = $page_data['display_featured_product'];
        
        return $template;
    }
    
}

/* End of file page.php */
/* Location: ./system/application/controllers/page.php */

THANKS! rob