Creating pretty links for URLs with multiple query parameters

I am working on a website that is more of a search directory and haven't been able to find a clear answer on how to automatically create pretty links from long URL's with multiple query parameters (Wordpress).

For example, if the link looks like this: website.com/search/search-results/?address=98101,+seattle,+washington&contractor=plumber&latitude=1234&longitude=9876&filter=20&order=distance

Is there a way to make it look like this: website.com/search/search-results/98101/seattle/washington/plumber/

automatically without having to go through every link and the new pretty link will show the same page as the page with all of the query parameters?

Thanks in advance, I've been trying to figure this out all day and it's not my strong point...