4-6 V Parallax Servo on Arduino Motor controller

I have an Arduino Uno and an Arduino Motor Controller shield. The maximum current per pin on the Arduino Uno is stated to be 40mA.

The motor shield says I should power it with 7-12 V. And the Parallax Standard Servo contoller says it is rated for 4-6V with a peak power of 140 mA +/- 50 mA. The 4-6V of the servo is less than the recommended 7-12V.

So my question is: How do I set up my Parallax Standard Servo to be contolled by my Arduino Uno using the Arduino motor shield? Without destroying anything, of course

So you really want to use the motor shield?