Here is what you need to do:
RewriteEngine On RewriteRule ^manual/?$ index.php?action=selectLang [L,NC,QSA] RewriteRule ^manual/(fr|en)/?$ index.php?action=listChapter&lang=$1 [L,NC,QSA] RewriteRule ^manual/(fr|en)/([0-9\.]+)(/[^/]+)?/?$ index.php?action=listChapter&lang=$1&chapter=$2 [L,NC,QSA]
The first will load the page where the user selects lang. In your PHP, you can check $_GET['action'] so that you can load the "select lang" page. The second is the same idea as the first, but for a list of chapters. Now you can use /manual/fr/1.0 or /manual/fr/1.0/chapter-title . This will work better for SEO if you add a headline.
[] at the end of each RewriteRule is a flag, learn more here: http://httpd.apache.org/docs/2.3/rewrite/flags.html
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