URL rewriting in Apache is really pretty easy, barring any extensive regular-expression syntax you might have to develop.
Make sure that you compiled Apache with --enable-rewrite
so that your Apache webserver supports URL rewriting.
[yourhtmlsource.com] is an excellent primer on learning to use Apache's URL rewriting abilities, and I highly recommend you check it out, as it will likely go a long way and answer a lot of questions you may have.
Also, a handy cheat-sheet that becomes convenient once you become more familar with Apache URL manipulation may be downloaded here