How to Remove Index.php in Joomla URL

Normally URL of Joomla will display like:
http://www.yourwebsite.com/index.php?contact

Now you want to change url like:
http://www.yourwebsite.com/contact
is is very good for SEO so now all optimize is objective of SEO, It is easy to remove index.php in Joomla URL, this is how to:

First you need to access your FTP Softwear, example : Filezilla etc...

Step 1: Change extension of file htaccess.txt to .htaccess

Step 2: Access to administrator choose
Go to Global Configuration > SEO Settings >  Use URL rewriting -> Yes

Now go to your homepage, refesh your website to see change.

Done.