I use .NET 2.0 and IIS6
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If you can upgrade to .Net 4.0,which got a built-in URL Routing feature to do it for you easily,read this article by Scott Mitchel
otherwise if you don’t want to move to .net 4.0,read this article by Scott Gu
For .NET there are already modules available like this one.
For IIS 6.0 you can use ionics ISAPI URL Rewrite filter http://iirf.codeplex.com/ for extention less urls