http://www.example.com/real-estate?view=property&id=103
http://www.example.com/real-estate?view=properties&id=103
You can add the following rule to your site's .htaccess file to redirect the old URLs to the new one:
RewriteCond %{QUERY_STRING} ^view=property&id=(.+)$
RewriteRule ^real-estate$ http://www.example.com/real-estate?properties&id=%1 [R=301,L]