Arduino Uno Motor Coding

I am trying to create a code that turns a motor twice in one direction then back and forth to the best of the sound of the rocking. I currently have an Arduino Uno, an SD card shield, and a motor shield. The Arduino had gotten larger than anticipated with these shields. The link below shows what I am trying to accomplish by the turning of the heads. Is it possible to do this without the motor shield? If not that is okay. Could someone point me in the correct direction or a possible sample of a motor turning like in the video below? Any help is appreciated as this is a gift I am trying to finish up soon and I am stuck :slight_smile:

Kodama - Kodamas - YouTube

Is it possible to do this without the motor shield?

What kind of motor are you using?

Could someone point me in the correct direction or a possible sample of a motor turning like in the video below?

If it were me, I'd be using a stepper motor. What kind are you using?