Here is a schematic of what I have set up. I could not find the PN532 in the catalog of the online schematic maker, so I chose something close. Let's pretend that D0 pin (connected to GP7) is in actuality the SCL pin, and A0 pin (connected to GP6) is the SDA pin.
Following are links to technical information on the NFC PN532:
General Product Page
Product Wiki