Rewriting parameters to use slash - htaccess

So on our site, we have dynamic pages which will fetch info on what is requested. For the sake of making sense, I’ll use our blog as an example.

So I have website.com/blog/article?id=4, which will fetch a certain article from the data base. After looking around for this answer, I couldn’t figure anything out. I want the url to look like website.com/blog/article/4. Using the help of Google, I came up with this:

Options +FollowSymLinks -MultiViews RewriteEngine On RewriteBase /blog RewriteRule ^([^/]+)/([^/]+)$ article.php?id=$1

Since both blog and article are actual pages, I couldn’t have arguments for what page I want specifically. Any help on how to achieve this will be appreciated.