Here, check out this function:
function seo_friendly_url($string){
$string = str_replace(array('[\', \']'), '', $string);
$string = preg_replace('/\[.*\]/U', '', $string);
$string = preg_replace('/&(amp;)?#?[a-z0-9]+;/i', '-', $string);
$string = htmlentities($string, ENT_COMPAT, 'utf-8');
$string = preg_replace('/&([a-z])(acute|uml|circ|grave|ring|cedil|slash|tilde|caron|lig|quot|rsquo);/i', '\\1', $string );
$string = preg_replace(array('/[^a-z0-9]/i', '/[-]+/') , '-', $string);
return strtolower(trim($string, '-'));
}