Apache Server Configuration (for a Magento Store)

A Magento store needs mod_rewrite enabled. Apache configuration might need some changes. The URLs are not working without [login to view URL] right now and they need to be SEO Friendly. There is also a message on the admin side saying that the server is not configured properly. These two issues are probably related. I don't have time to fix this myself. Need a quick fix from someone who knows what he is doing. I will need details of what fixes you made after you're done.