According to the Litium Framework website, the rewrite rule looks simple. The Hiawatha version should be like this:
VirtualHost {
  ...
  UseToolkit = lithium
}
UrlToolkit {
  ToolkitID = lithium
  RequestURI exists Return
  Match ^/favicon.ico$ Return
  Match ^/(.*)$ Rewrite /index.php?url=$1
}
Please note that I typed this reply after a long evening while having some drinks with my friends. There could be some errors in it 
