A decent example of how to get data from your IMU is here: http://playground.arduino.cc/Main/MPU-6050
The servos can be moved using the Servo library, or you can just set a PWM signal manually. Examples for this are quite abundant and simple.
Please be more specific about what you want to know though. From your post I'm getting the feeling you'd like someone to write your entire code ;-). If you have no programming experience at all, i don't think this is the right project to be your first. Good luck!