Best practice for using URL params like in /contact/:contactId

I don't see a way to use URL params from redux. Could you please give some hints or best practice information?

Especially:
- How can I call Urls with params using the action creator? Maybe like navigateTo('url', { params:{ ... } })
- How could I select params using a redux selector? I've seen that router.currentRoute has all information. But I would need it in Redux.