I'm trying to make the URLs of my site SEO and user friendly. It is basically a static corporate website but for the side menu I am passing some variables through URL to show the sub menu of main selected menu.
For example: Offshore staffing is one of the main menu items and one of its sub menu items is Programmers. When someone clicks Programmers I will pass the id of main menu and sub menu through URL to collapse all other menus and promote the opened menu.
I want to mask something like ?id=4&sid=4
at the end of every URL. Can't use hidden input element because I am modifying this site and the developer who actually built that site didn't use forms.
What do you mean by "masking"? Is URL-rewriting, what you are searching for? If yes, you need to append the alias (e.g. "programmers") to the URL, instead of the GET-params. Those will be translated to GET-params via URL-rewriting and then matched to an ID via PHP.
You're looking for using a .htaccess file to rewrite URL's. For example stackoverflow might use something like this:
This would make both stackoverflow.com/questsions/1234/a-title-of-a-page and stackoverflow.com/questions.php?q=1234 the same page, so on your website you would need to use the "tidy" version of the URL (the first one)
A lot more can be read into this and you can customize you're URL's to what you require. For example, a few places to read up on it include:
http://httpd.apache.org/docs/2.0/misc/rewriteguide.html
http://www.easymodrewrite.com/
Generally a good way to do this (so that you don't have lots of ID's in your URL's) is to store a "URL friendly" name of the page (e.g. "name-of-page") in your database, then when the page is requested, just search your database for that name and you'll know what ID it relates to.
Translate the ID's to the words they stand for when writing the links, and use mod_rewrite to pass them back to PHP when they're visited, where you do a lookup based on the words, and find the ID again.
So the link becomes /offshore/programmers, then you do a lookup for the ID's of "offshore" and "programmers" and show the appropriate content.