I saw this example of how to change index.php to the url name
RewriteEngine On
RewriteCond %{REQUEST_FILENAME} !-f 
RewriteCond %{REQUEST_FILENAME} !-d
Rewri         
        Have your .htaccess as this:
RewriteEngine On
# skip all rules below this for files and directories
RewriteCond %{REQUEST_FILENAME} -f [OR]
RewriteCond %{REQUEST_FILENAME} -d
RewriteRule ^ - [L]
RewriteRule ^([\w-.]+)/?$ index.php?id=$1 [L,QSA]
RewriteCond %{DOCUMENT_ROOT}/site/map/$2 -f
RewriteRule ^([\w-]+)/(.+)/?$ $2?id=$1&goto=$2 [L,QSA]
RewriteCond %{DOCUMENT_ROOT}/site/map/$2/index.php -f
RewriteRule ^([\w-.]+)/([a-z0-9]+)/?$ $2/index.php?id=$1&goto=$2 [NC,L,QSA]
RewriteRule ^([\w-.]+)/([a-z0-9]+)/?$ index.php?id=$1&goto=$2 [NC,L,QSA]