Get a copy of the 1) Product Specification 'PS-MPU-6000A.pdf' and 2) Register Mapping and Description 'RM-MPU-6000A.pdf, and a 3) good stiff drink, then settle down for a lot of reading....
everything you need to know.
And/or a copy of Krodal's MPU-6050Test pde and disect it.
MPU6050_Test.pde (32.3 KB)
RM-MPU-6000A.pdf (827 KB)
PS-MPU-6000A.pdf (1.87 MB)