Can we perform URL rewrite based on the header in the request using iRule or any other way?

Absolutely. Something like this:

when HTTP_REQUEST {
    switch [HTTP::header Accept-Language] {
        "en" {
            HTTP::uri "/en[HTTP::uri]"
        }
        "ge" {
            HTTP::uri "/ge[HTTP::uri]"
        }
    }
}

This will look at the incoming Accept-Language header and insert the respective language path before the original request. So a request to www.abc.com/foo/bar with an Accept-Language value of "ge" will produce a request to the server as www.abc.com/ge/foo/bar.

Now the above should work as long as the server doesn't return relative links to its resources under this path. Example:

/en/image.jpg

If it does do this, then you'll need a minor modification of the above rule to catch this and disregard URI modification if the language path already exists:

when HTTP_REQUEST {
    switch [HTTP::header Accept-Language] {
        "en" {
            if { not ( [HTTP::uri] starts_with "/en/" ) } {
                HTTP::uri "/en[HTTP::uri]"
            }
        }
        "ge" {
            if { not ( [HTTP::uri] starts_with "/ge/" ) } {
                HTTP::uri "/ge[HTTP::uri]"
            }
        }
    }
}

The HTTP::uri command will modify the URI as it passes through the proxy, and will be transparent to the user (won't show up in the address bar).