php is not so sophisticated like may be dotNet whic gven u the easy facility of master page ... but you can do it in similar way haveing index.php kindda page ... where you have your static pages like Header, Menu & Footer while leaving a section of Middle pages which are dynamic based on the parameters or query string u set in the browser URL ...
basically u can have a switch case for middle section which decides what page to include in the middle section based on a single variable set by you in the URL.. like
www.yourdomain.com/index.php?pg=home
OR
www.yourdomain.com/index.php?pg=contact
OR
www.yourdomain.com/index.php?pg=faq
and so on ...
where u are using the variable $_GET['pg'] in switch case to include the respective middle pages....
this is very common way to implement a master page kind of in php...
Let me know if you need more clarifications...