dc motors

hi! i'm currently making a four-wheeled robot powered by dc motors (all four of them has dc motors and none are free wheeled) and i was looking at several articles to help me program the motors so that it can move forward and backward and i was wondering if there's any way i could program it that way without using an h-bridge....i'm kind of a newbie in this stuff so forgive me if my questions doesn't make any sense or something and thank you in advance for anyone willing to help me