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This is a security issue, in that the browser is owned by your visitor, and that visitor has a right to see where he/she is going.
If you do decide to encrypt it, be aware that the character-set for URL-paths and query strings is restricted; any characters not allowed will be hex-encoded (a simple example being spaces converted to %20) before transmission. Make sure that the script that you use on your server can handle un-encoding these characters prior to decrypting the value.
See RFC2936 [faqs.org] for details.
It is OK if it shows in the browser after it has been encrypted. I just do not want that variable in id= to be seen by everyone in the browser. Is this done with .htaccess? I saw your link but this is something I am completely unfamiliar with. I do not program either, just know the php/htaccess basics pretty much.
.htaccess is invoked when a request for a URL arrives at your server. By this time, the clicked-link URL has already been displayed in the browser, and it's too late for anything on the server side to affect what is displayed.