URL redirection or friendly url Issue

[eluser]Unknown[/eluser]
Hello Everyone,

Probably this could be a a repeated topic but even after finding and trying to understand from tutorials and other threads I finally thought to ask in forums...

1) currently I have a default controller called "page"

i access my current localsite as http://localhost/mydomain and this perfectly opens up my index page
But when i created another page lets say contact.php.....and i tried to access it using the url http://localhost/mydomain/contact it displayed error "Object not found" Error 404...I can access this page as http://localhost/mydomain/index.php/page/index/contact

I want my url to be like this ie the contact page should be accessed with url http://localhost/mydomain/contact

2) Also If i want to implement some folder structure then what should be done like.....some page to be accessed which is in a folder lets say club...ie http://localhost/mydomain/club/clublist.php

3) How can I remove index.php from URL while accessing different page. Currently i am accesing this way.....http://localhost/mydomain/index.php/page/view/contact
and I want it without index.php and also without controller and view....ie directly http://localhost/mydomain/contact

I tried to understand url routing and all but could not understand properly. Can some please guide me.....

Thanks for the time.....