How to make Pretty SEO friendly URLs ?

Hi,

Your catalog URLs are not SEO friendly, it has shortcode based content so please tell us How to make it SEO friendly URLs through .htaccess or word press add_rewrite_tag function or with add_rewrite_rule function.

https://example.com/?single_prod_id=39 // one variable 38
https://example.com/?catalog_page_10=2 // here Two variables 10 & 2

and i want above URLs like this:

https://example.com/item/39.htm
https://example.com/catalog-page/10/2.htm

I request you please guide us through above wordpress functions or tell us how to do it with htaccess.

Your early reply will be appreciated.

Thanks