Remove index.php

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If I enable "Remove index.php from URLs" under "Pretty URLs", a message appears:

It was not possible to detect your server kind. Here's the configuration sections for every supported server: please manually add the one relevant for you to your server configuration.
I tried to do it myself and failed miserably. I can't even . load my website. Any help is greatly needed and appreciated. New to C5 by the way. Please help. Lol.