Remove .html from category or product URL in Magento

Can you help me discover the solution to removing .html from Magento category URL?
How configure magento such that the category url does not have “.html” in the url?
If you want to remove .html from all Magento’s category URL then Follow the below steps

    Go to System -> Config -> Catalog -> Search Engine Optimizations tab
    Delete “.html” from Category URL Suffix.
    Go to System->Index Management
    Reindex “Catalog URL Rewrites”
    Refresh cache

If you want to remove  .html from all Magento’s product URL then steps will same. 
Except 2. Delete “.html” from Product URL Suffix