Rewrite url with id to post title?

Hi, I have a URL that looks like this blog.php?id=1

How can I rewrite it to the blog post title?

And then how to locate the correct post when someone inputs rewrite URL?

I mean from ID to title and then from title to ID?

I found this solution:

$id = (int) $_GET['id'];
// suppose connection to database is established already
$result = mysql_query("SELECT `title` FROM `articles` WHERE `id` = $id");
if (!$result) {
    // there is no such an article
    // you can redirect to some other page, or show some error message
} else {
    $row = mysql_fetch_assoc($result);
    $title = $row['title'];
    $urlPart = generateURL($title);

But what should I do when someone inputs already rewrite URL? Since there is no ID how to fetch the ID to be used in the SQL query?

I guess I need htaccess rewrite code?

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