Changing current urls to simple form

[eluser]bleu[/eluser]
My current urls are like this

Code:

http://www.xyz.com/index.php/main/view/home   For Home Page

http://www.xyz.com/index.php/main/view/about_us  For About Us Page

http://www.xyz.com/index.php/main/view/services   For Services Page

I want them to come like

Code:

http://www.xyz.com/home   For Home Page

http://www.xyz.com/about_us  For About Us Page

http://www.xyz.com/services   For Services Page

How can I achieve that

[eluser]Jason Stanley[/eluser]
http://ellislab.com/codeigniter/user-gui...uting.html

[eluser]CroNiX[/eluser]
And for removing index.php, http://ellislab.com/codeigniter/user-gui.../urls.html