Next & Previous PAGES

I’ve tried multiple plugins, codes from the codex, and many many things to get this to work.
I’m trying to get my bottom navigation to look like this:

Page: 1 2 3 4 5 …”last page” Previous Page | Next Page

I can get the pages set up alright but no matter what I do, I can’t get the previous page and next page links on the same line as the page numbers, and I can’t get them to be connected. Previous is always on the left and next is always on the right. Any ideas?