custom-permalinks.php

<?php

// Register our custom rule
add_action( 'init', 'qz_add_custom_permalink_rule' );

function qz_add_custom_permalink_rule() {
	add_rewrite_rule( '/(\d+)/(^/)/' => 'index.php?p=$matches[1]&name=$matches[2]' );
}

add_filter( 'post_link', 'qz_custom_permalink', 99, 2 );

function qz_custom_permalink( $permalink, $post ) {
	if ( in_array( $post->post_type, array( 'post', 'article' ) ) ) // add other post_types here
		$permalink = home_url( sprintf( '%s/%s/', $post->ID, $post->post_name ) );
	return $permalink;
}