How do I connect any wires to digital pins of arduino if I use this module? It goes on top of the arduino so You cant connect anything to arduino. Do I have to solder anything? Thanks for help
That is indeed a problem!
The L293D is ancient, inefficient and weak. Consider using a modern motor driver module, like one of Pololu's excellent choices.
After a quick search, I found this:
Unfortunately, the schematic there is barely readable. Hopefully you have a better link to the device.
Anyway, it appears to have two L293 chips and a SN74HC595 shift register. It could be that you actually need only a few Arduino pins to drive the whole thing so, instead of plugging the whole device into the Arduino, you could connect only the required pins by jumper cables.
If, as it appears, the L293s are connected to a shift register, you need only +5V, ground and 3 other connections (clock, strobe, data) to drive the whole thing. However, you need a complete schematic to get further.