How to supply 4-12 volt motor with 12volts using relays and shile?d

Hello so i need to turn an 4.5-12volt DC high torque motor two ways for a competition. How do i connect it? I was planning on connecting the relay to the adafruit motor shield and then use the relay to supply the 12volt ower supply to the motor. But is this posible to do?

How would you guys do it? Im using the Adafruit motor shield to control the motor both ways.