重写php网址以生成干净的网址.htaccess

I'm using a custom built CMS and I need to rewrite the urls because currently they take the page ID and name of the page into the url.

/pages/1411760825/Facilities is an example of the current url
/Facilities is what I want it to show up as in the URL bar

The pages are linking to each other based on their ids and titles and I want it to not do that anymore.

This is the current .htaccess rule

RewriteEngine on
RewriteRule (.*)\.xml(.*) $1.php$2 [nocase]

I know I need to add a line below to rewrite what I want it to be, but I'm unsure how to achieve this.