To re-write store url as SEO friendly url as you want, you can use this extension module

http://www.your-domain.com/index.php?route=common/home
to
http://www.your-domain.com/

http://www.your-domain.com/index.php?route=account/login
to
http://www.your-domain.com/login

For now, this is how to use it, we will release an update soon that includes an admin page where you can set these urls:
- Upload the seo-url.ocmod.xml (for 2.x) or seo-url.ocmod.zip (for 3.x) file through the extension installer page in your admin section.
- Refresh the modifications page
- Open your database and find the "url_alias" (for 2.x) or "seo_url" (for 3.x) table and open it, add new row in this table as copy your store route value and set this in database table "query" field and set "keyword" value as you want to replace this.

route=common/home has been cleaned up by the mod, for the other routes, please enter them in the database manually following below template

Example 1:
your current url : http://www.your-domain.com/index.php?route=account/login
query : account/login
keyword : login
for 3.x also add:
language_id : 1
store_id : 0

#modified url : http://www.your-domain.com/login

Example 2:
your current url : http://www.your-domain.com/index.php?route=information/contact
query : information/contact
keyword : contact
for 3.x also add:
language_id : 1
store_id : 0

#modified url : http://www.your-domain.com/contact