is this the only type of url you would have on the audio subdomain? you're going to need something that separates the ISKCON and Prabhujis parts as well as the 03 to be in there somewhere. assuming all urls on the audio subdomain look like /index.php?q=f&f=/[number]-[name]_[title] you can do something like this:
RewriteRule ^([0-9]+)/([^/]+)/([^/]+)$ /index.php?q=f&f=/$1_-$2$3
which would work if you link to http://audio.iskcondesiretree.info/03/ISKCON/Prabhujis
you could get even simpler if you use a url like http://audio.iskcondesiretree.info/03_-_ISKCON_Prabhujis which would use rules like this:
RewriteRule ^(.+)$ /index.php?q=f&f=/$1
searching for apache mod_rewrite will probably give you a lot of general results about how this all works. here's the mod_rewrite info from the apache site: http://httpd.apache.org/docs/2.0/mod/mod_rewrite.html
also since RewriteRule works on a regular expression you might want to learn about regular expressions if you aren't already familiar.
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