php - How to setup a permalink structure like wordpress with just postname after the domain name?

My title should be enough to make you understand that what I am actually trying to do. I just want to make a simple permalink structure like this:

example.com/post-name
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I have written all the code to get user request, my code is

$permalink = trim($_SERVER['PHP_SELF'], "/");. 
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After that I have managed to get the user request whenindex.php is added in the URL like this:

example.com/index.php/post-name.
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But this is not what I am trying to achieve, I just want to simple URL structure like this:

example.com/post-name.
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I want a way so that I can get user request without any need ofindex.php in the URL.

Thanks, any help will be highly appreciated.