cPanel does not, as far as I can tell, offer a handy tool that creates mod_rewrite rules.
You need to ask your web host if they permit you to edit .htaccess files, and if their Apache setup has mod_rewrite installed. If the answer to either of these questions is no, then you're out of luck.
If you are permitted to create .htaccess files for your webspace, and mod_rewrite is on, then you need to read the manual page that thorpe pointed you to. mod_rewrite is very powerful, so it'll take you an hour or two or reading-up to get the basics of it.