in order to convert dynamic url to static url, you'll need mod_rewrite module and .htaccess file if your website is hosted in apache server.

Sample Dynamic URL: http://yourdomain.com/product.php?categoryid=1&productid=10

Single Page URL
Generated URL: http://yourdomain.com/product-categoryid-1-productid-10.htm
.htaccess code:
Options +FollowSymLinks
RewriteEngine on
RewriteRule product-categoryid-(.*)-productid-(.*)\.htm$ product.php?categoryid=$1&productid=$2

Directory Type URL
Generated URL: http://yourdomain.com/product/categoryid/1/productid/10/
.htaccess code:
Options +FollowSymLinks
RewriteEngine on
RewriteRule product/categoryid/(.*)/productid/(.*) product.php?categoryid=$1&productid=$2
RewriteRule product/categoryid/(.*)/productid/(.*)/ product.php?categoryid=$1&productid=$2