Magento Remove index.php from url

Magento by default added the index,php in url .So,As per the SEO page will not get indexed properly SO here we have try to Remove index.php in url from both End Access Magento URL without index.php
For example:
http://domain.com/index.php/category to
http://domain.com/category

Then Just follow steps
1) Login to admin section by using the URL http://domain.com/index.php/admin
2) then go to “System >> Configuration >>Web >> Search Engines Optimization” Use Web Server Rewrites : YES
 3) Go to “System >> Configuration >>Web >>Secure” Use secure URL Frontend: YES
 4)Then create the .htaccess file under your the magento installed folder.