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For Localhost / VPS / Dedicated Hosting

1. Open the httpd.conf
2. Find
   LoadModule rewrite_module modules/mod_rewrite.so
3. Remove # from the beginning of the line
4. Find AllowOverride then change to be
   <Directory />
AllowOverride All
Order deny,allow
Deny from all
</Directory>
5. Save and restart Apache
6. Create a .htaccess file at the root directory
   #Rewrite index.php
#Start using rewrite engine
RewriteEngine On
#Rewrite condition
RewriteCond %{REQUEST_FILENAME} !-f
RewriteCond %{REQUEST_FILENAME} !-d
#Whenever index.php is there in the url, it will rewrite to / automatically
RewriteRule .* index.php/$0 [PT,L]
7. Make following changes in application/config.php
   $config['index_page'] = '';
8. Save the file and you are done

For shared hosting

1. Create a .htaccess file at the root directory
   #Rewrite index.php
#Start using rewrite engine
RewriteEngine On
#Rewrite condition
RewriteCond %{REQUEST_FILENAME} !-f
RewriteCond %{REQUEST_FILENAME} !-d
#Whenever index.php is there in the url, it will rewrite to / automatically
RewriteRule .* index.php/$0 [PT,L]
2. Make following changes in application/config.php
   $config['index_page'] = '';
3. Save the file and you are done