Pretty URLs

Hi

In my application, if I want to access a link, the url in the browser will be something like http://application/controller/action/parameter:value.
However, browsing on cakephp.org the urls are something like (and I will give you an example): http://book.cakephp.org/2.0/en/installation/advanced-installation.html.

I want my urls to look the same way, with that ending in .html, and that format like browsing directories.
I would also want to show different names for the controllers and for the actions, I want them in my language and not in English.

How can I do that? Are those pretty urls described on this page: http://book.cakephp.org/2.0/en/installation/advanced-installation.html?

Thank you in advance!

Best regards!

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