how to create friendly url in my directory using php

how to create friendly url in my directory using php

I use these type of url :http://test.com/rest/api.php?action=test
But
I need these type url : http://test.com/rest/api/action/test
I try to .htaccess file these code here
RewriteEngine On
RewriteCond %{REQUEST_FILENAME} !-d
RewriteCond %{REQUEST_FILENAME} !-s
RewriteRule ^(.*)$ api.php?rquest=$1 [QSA,NC,L]
RewriteCond %{REQUEST_FILENAME} -d
RewriteRule ^(.*)$ api.php [QSA,NC,L]
RewriteCond %{REQUEST_FILENAME} -s
RewriteRule ^(.*)$ api.php [QSA,NC,L]