htaccess rewrite rule for page/title in wordpress?

I am creating one little plugin for WordPress which is about trips.
I am now at the point to create a browse page where to be opened each trip.

My idea is this –
I have created http://example.com/?page_id=143

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And i want at my site users to open page as : http://example.com/trip/NAME

Can someone help me with the rewrite url? because I am very weak on rewriting..

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