Pagination with URI segment

Hello all
I am writing a simple blog application and want to have a pagination like the following: https://sampleblog.local/posts/page/2
Default pagination is like: https://sampleblog.local/posts?page=2

I have read the documentation : https://codeigniter4.github.io/CodeIgnit...t-for-page
But still cannot implement it.
I would appreciate it if anyone can provide a sample code.

My controller:

PHP Code:

        $data['articles'] = $posts->orderBy('id','DESC')
                            ->where("type = 'article' AND status = 'publish'")
                            ->paginate(5);
        $data['pager'] = $posts->pager;