Connecting VNH5019 Motor Driver Carrier to Arduino Uno

pls bear with me. i'm totally newbie.
my project is a robotic drums driven by arduino uno Rev3 + the VNH5019 motor driver carrier (see images of driver). i'm a midi sequencer user,(i also have a hi rpm motor) but for now i just want to know how is the connection beween these 2 cards (arduino & driver carrier) mentioned above.

thanks,
efren

VNH5019_Motor_Driver_Carrier.png