SEO - using mod rewrite

I want to optimize my website for search engines and it is recommended to use "mod rewrite" to decrease the size of a URL
How can I use Mod Rewrite to remove the "&" and "=" symbols from the URL address ?
http://www.MyWebsite.com/sample/test="...=query/test.php (just a sample, not a working link here)
I want it to be like this:
http://www.MyWebsite.com/sample/test
thanks,

Scott