Step 1

Create a .htaccess file in your website's root directory and place the following code in it.

RewriteEngine on RewriteBase /
RewriteCond %{REQUEST_FILENAME} !-f
RewriteCond %{REQUEST_FILENAME} !-d
RewriteRule ^(.*)$ index.php?q=$1 [L,QSA]

Step 2

Login to the Admin section of your Drupal site and enable the Path Module.

Step 3

Run a clean URL test and enable the Clean URLs.

Now you should be able to see the search engine friendly URLs :)