Wireless XBee Shield (PLEASE HELP!!!)

Hello! I am a grade 9 engineering student and I am having some trouble with my end of semester culminating task for Arduino

I need help figuring out how to get 2 wireless shileds mounted on Arduino UNO's, to communicate with eachother.
I am using the Arduino UNO,
The XBee shield:SparkFun XBee Shield - WRL-12847 - SparkFun Electronics
and this part (not sure what it's called):http://www.digikey.com/product-detail/en/XB24-AWI-001/XB24-AWI-001-ND/935965?WT.mc_id=IQ_7595_G_pla935965&wt.srch=1&wt.medium=cpc

I've tried looking everywhere I can on the internet, and I am still unable to find my answer. Some of the sources that may have been able to provide information, are too complicated for me as I am still only a beginner in this field.

I am essentially trying to get a servo motor working using wireless control, but the only thing I'm having problems with is the wireless stuff.

If it would be possible for someone to help me come up with a code that lets me communicate between 2 different Arduino's, it would be greatly appreciated!
Thankyou!