You can't hide the ID parameter, even if you use .htaccess
to achieve that. I mean you can do it but you will be able to use a single ID when accessing profile.php page which I don't think is the case you want.
You can do it by using sessions like:
demo.php
session_start();
$_SESSION['id'] = 22;
echo 'My profile';
profile.php
session_start();
echo $_SESSION['id'];