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Drupal is modular framework and content management system (CMS) and works under Lighttpd too. By default, Drupal passes path arguments to itself via its internally generated URLs. This results in URLs that look like the following: "http://www.example.com/?q=node/83." This can make URLs hard to read and it also stops many search engines, like Google, from indexing the pages with these URLs.

You can tell Drupal to use "clean URLs", eliminating the "?q=" in internal URLs. Assuming that your site hosted in rootdirectory itself, open your lighttpd.conf file or domain configuration file:
# vi lighttpd.conf
Make sure mod_rewrite is enabled:
server.modules += ( "mod_rewrite" )
Append following configuration directives:

url.rewrite-final = (
  "^/system/test/(.*)$" => "/index.php?q=system/test/$1",
  "^/system/test-clean-url/(.*)$" => "/index.php?q=system/test-clean-url/$1",
  "/rss.xml$" => "/index.php?q=rss.xml",
  "^/search/(.*)$" => "/index.php?q=search/$1",
  "^/([^.?]*)\?(.*)$" => "/index.php?q=$1&$2",
  "^/([^.?]*)$" => "/index.php?q=$1",
}
# Error 404
server.error-handler-404  = "/index.php"
 
# stop these
url.access-deny = ( "~", ".inc", ".engine", ".install", ".module", ".sh", "sql", ".theme", ".tpl.php", ".xtmpl", "Entries", "Repository", "Root" )

Save and close the file. Restart lighttpd, enter:
# /etc/init.d/lighttpd restart
Feel free to adjust rules as per your setup.

Further readings:

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For various reason you might want to redirect all traffic coming to www.domain.com to domain.com or vise versa.
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