As Jonathan has stated … no easy way and the post he has referred to means that JS is going to have to be used at some point. Any particular reason why you ask “without JS”?
A good thing to look at, perhaps, is the History API. You can manipulate the state and url with this API and an added bonus would be that if the user left the page you could return back to where they left as you are manipulating the browsers history.
I’ve also written a small script that allows you to take params from a url and store them in a key value pair that you can then use to manipulate data inside a Hype doc.
e.g …?scene=scene1&marker=object1
This would then look something like this in Hype
hypeDocument.showSceneNamed(params['scene']); // scene1
hypeDocument.getElementById(params['marker']).scrollIntoView(); // object1