Unfortunately, this bridge likely won't work with your motor, as you motor is likely a 1.5-3.0 VDC motor; while you could "overvolt" the motor with 4.5-5.0 VDC, its bearings and other parts will likely fail in short order, leaving you with a burned out motor.
What is the data sheet voltage drop across that h-bridge? If it is 1-2v then the motor might be ok. A diode in series on the power supply could provide another .7v drop.