URL without the number of the post

I have a folder where I will save all the posts from a blog. It will be useful for me to have each file with a number. This way I can have things organized and easy to find. But the user does not need that number and it would be better to have a cleaner URL without it.

I am familiar with RewriteEngine rules in the htaccess. But I do not know how to do it in this case.

For example: I would like to have in my local folder and in the server:
www.example.com/blog/4-theTitleOfthe4post
www.example.com/blog/5-theTitleOfthe5post
and so on…

I would like to have as the url for the user: www.example.com/blog/theTitleOfthe4post www.example.com/blog/theTitleOfthe5post ...

How can I remove the number of the post and the dash from the URL?