使用htaccess在php中的seo友好URL

I 'm fighting with htaccess XD, but I can not find the fault, because i don´t know much about htaccess, i have set the correct settings in the phpinfo file.

My no seo link:

<a href="proyecto?id=<?php echo $id_proyecto . '&title=' . $url; ?>">

Examples browser: mydomain.com/proyecto.php?id=1&title=diseno-desarrollo-web

My question is how can I convert this link SEO Friendly

This is my htaccess file on raiz, but it don´t work.

#Whitout PHP

RewriteEngine on
RewriteCond %{REQUEST_FILENAME} !-d
RewriteCond %{REQUEST_FILENAME}\.php -f
RewriteRule ^(.*)$ $1.php

RewriteBase /
RewriteRule ^proyecto/([a-zA-Z0-9\-/\.]+)/?$ proyecto?id=$1title=$2 [L]

thanks in advance

RewriteEngine On
RewriteRule ^proyecto/([^/]*)/([^/]*)$ /proyecto.php?id=$1&title=$2 [L]

and add the following at the bottom

RewriteCond %{REQUEST_FILENAME}\.php -f
RewriteRule ^([^\.]+)$ $1.php [NC,L]