PHP-friendly URL with htaccess

Question

Good morning,

I am creating a simple system in PHP to learn more about MVC. Would you like to retrieve from the URL the information contained in '?pag='. How to do this? I need to change my file .htaccess?

I want the URL to look like controller/action/param/? pag=0

Bootstrap.php

<?php

class Bootstrap
{
    private $controller = 'indexController';
    private $action     = 'index';

    public function __construct()
    {
        $url = $this->parseUrl();

        if (isset($url[0])) {
            if (file_exists(CONTROLLERS . $url[0] . 'Controller.php')) {
                $this->controller = $url[0] . 'Controller';
            }
        }

        if (isset($url[1])) {
            $this->action = $url[1];
        }

        require_once CONTROLLERS . $this->controller . '.php';
        $this->controller = new $this->controller;
        $this->controller->{$this->action}();
    }

    private function parseUrl()
    {
        if (isset($_GET['url'])) {
            $url = rtrim($_GET['url'], '/');
            $url = explode('/', $url);

            return $url;
        }
    }
}

.htacess:

RewriteEngine On

RewriteCond %{REQUEST_FILENAME} !-d
RewriteCond %{REQUEST_FILENAME} !-f

RewriteRule ^(.*)$ index.php?url=$1 [L]