you can do that with .htaccess file, here is an example
Options -Indexes
Options +FollowSymLinks
RewriteEngine On
ewriteCond %{REQUEST_FILENAME} -s [OR]
RewriteCond %{REQUEST_FILENAME} -l [OR]
RewriteCond %{REQUEST_FILENAME} -d
RewriteRule ^.*$ - [NC,L]
RewriteRule ^(.*)$ index.php?_url=/$1 [QSA,L]