How to verify if $_GET exists?

So, I have some PHP code that looks a bit like this:

<body>
    The ID is 

    <?php
    echo $_GET["id"] . "!";
    ?>

</body>

Now, when I pass an ID like http://localhost/myphp.php?id=26 it works alright, but if there is no ID like just http://localhost/myphp.php then it outputs:

The ID is
Notice: Undefined index: id in C:\xampp\htdocs\myphp.php on line 9
!

I have searched for a way to fix this but I cannot find any way to check if a URL variable exists. I know there must be a way though.