SEO freindly URLs [closed]

I have a PHP site that using the folllowing URL structure

example.com/search/category.php?=general

example.com/search/location.php?=london

I’d like to make them more SEO and aesthetically freindly by changing them to

example.com/search/general

example.com/search/bikes-for-sale-in-london

What’s the easiest way of doing this?

Thanks