Folder re-direction

[#1]

I'm using Wordpress, however I have different URLs that I would like to use, for example http://www.mydomain.com/contact/ to go to a page that looks like http://www.mydomain.com/?page_id=2 is there anyway that I can get it to automatically redirect to the Wordpress page in question?

[#2]

You are looking for "Search Engine Friendly URL".
Did a search and this might be of interest:
http://seo4wordpress.wordpress.com/2007/05/08/wordpress-seo-starts-with-a-clean-search-engine-friend...
(PlusNet has mod_rewrite enabled).
... and here a video-tutorial:
http://www.tubetorial.com/tubetorial-quick-tips-wordpress-choosing-permalinks/