Create an extra field in your database call it "slug". varchar, same length as your titles.
Take your article titles and turn them into "slugs".
Lets say one title is "O'Reilly books that I REALLY Love!" turn that into the slug "oreilly-books-that-i-really-love".
(search this forum for slug or slugify to find out how to do that).
Create an articles.php file which expects a single GET argument, which will be that slug:
articles.php will then query your database for the match to get a single article, and display it.**
You can then create a list of articles and links by doing:
"SELECT title, text
WHERE slug = '" .$_GET['article'] ."'";
Now, you can then go on and create SEO friendlier URLS such as
"SELECT title, slug
order by title";
... by looking up and reading about Apache's mod_rewrite which turns (re-writes) that SEO friendly url into the exact link domain .com/articles.php?article=oreilly-books-that-i-really-love
When that is done you can go back to your home page and rearrange the links so that they link to the SEO friendly version instead.
Then you are done.
There is a bit of a learning curve, but once done you will likely use this a lot.
** You need to sanitize this input, I have left this step out - but it should be easy enough - a slug should be between 4? and n chars long, and contain only letters numbers and a dash.