using sef urls on custom component?

I have written a custom component that lists content items based on a custom mysql query. Links to these content items are then displayed based on following url where just the id number at the end changes -

/index.php?option=com_content&task=view&id=95

I was hoping that Advanced SEF would just update these links on the fly like it does with the rest of mambo to a url such as -

/4wdtracks/trails/nash-creek-loop-track/

How can I make SEF update these urls too?

thanks!

sefRelToAbs("index.php?option=com_content&task=view&id=95");

perfect!  ;D  Just what I was after.

thanks