Compatibility of Xbee Shield with Arduino Serial

I ordered Two Xbee modules... I want to configure them using this tutorial (blog.kevinhoyt.org/wp-content/xbee-setup.pdf). I am using them in my UAV project to transmit GPS data to ground..

I am using Arduino Single Sided Board V2.. Can i use Xbee Shield with it ?

Regards. Aadeesh