Hello i want to make SEO friendly links but i dont know how can you please help me doing that? I have this code:

<?php
    $sql = array('ID', 'post_title', 'post_content', 'post_header_image', 'post_category', 'post_date');
    $outputSQL = selectSQL($sql, 'news');
    $count = count($outputSQL);
        for ($i=0; $i < $count; $i++) { /* Loop Throught All Posts */
            if ($i < 5) { /* Choose How Much Posts To Show */
        ?>
            <a href="blog/post.php?post_id=<?php echo $outputSQL[$i]['post_title']; ?>"> /* The URL Link To 'post.php' page */
                <h2 class="post-title" style="font-size: 30px; font-weight:bold;">
                    <?php echo $outputSQL[$i]['post_title']; ?> /* Post Title */
                </h2>
            </a>
            <h4 class="post-subtitle">
                <?php echo substr($outputSQL[$i]['post_content'], 0, 100); ?> /* Post Content */
            </h4>
            <p class="post-meta">Posted on <?php echo $outputSQL[$i]['post_date']; ?></p> /* Post Date */
            <hr>
        <?php
    }
}
?>

In this example the URL output is http://localhost/website_name/blog/post.php?post_id=Some%20Post%20Title.
I want to be like this http://localhost/website_name/blog/post/Some-Post-Title.

-Thank you :)