You can do that very easily.
This is how I do it:
<?
$page = $_GET['page'];
if(!$_GET['page']) {
include("incl/home.incl");
} else {
include("incl/" . $_GET['page'] . ".incl");
}
?>
Then what you want to do is:
1). Make a folder in your web named incl.
2). Make your pages you want with a .incl tag at the end, then upload them into the incl folder.
EXAMPLE: home.incl
3). Set your links.
EXAMPLE: <a href="index.php?page=contact">Contact</a>
The above example would basically be the index.php page but with the include of the contact page.