I understand everything except this part, the H bridge. I understand what it does, makes it so that I can fire the motor in 2 directions, but I don't know how to build it. I see the diagram but i'm lost as to what most of that actually is. I looked up the symbols but i'm still lost, any help?
Well, you can - but it may or may not be cheaper depending on your application.
The important thing is, though, is understanding how such a thing works, and to do this, you have to understand what the parts are, how they work, and how to read a schematic and the symbols, and what they mean.
Seriously - take the time to do this, otherwise you are going to end up playing with a bunch of "black boxes" which you don't have any clue about what is doing what or why, and you may then end up smoking those - and that WILL be expensive.
Without this knowledge, you will also keep running into this same issue, over and over. Get some resources (those books I mentioned are a good starting point), take the time to read and learn them (note - the Grob won't be easy; its a textbook heavy on theory and equations for ohms law and such - but it is worth it), experiment with parts and such.
Ultimately, if you do things wrong without knowing why, you will either burn out more expensive parts (including your Arduino), or (more rarely, but still possible) you will build a circuit that could start a fire (no joke).