On the SitePoint PHP blog there's a recent post walking you through your first steps with Lithium, one of the first frameworks that was targeted specifically at PHP 5.3.

Lithium is a lean but mean PHP framework (machine?) built for PHP 5.3 and up. It is designed to provide a good toolset for starting your web application, but one that is not too confining. Lithium uses the Model-View-Controller(MVC) architecture and this is what we are going to look at in this article. I will show you how it works and how you can define some of your application’s business and presentation logic using this framework.

They provide the example code you'll need to follow along with the tutorial over on GitHub, creating a basic content output system. The tutorial shows you how to create controllers, make views and connect models to the tables in your database. Finally they tie it all together and make a "page" function that fetches the content by ID and displays it out to the user.