No, you can't just connect them to a output pin.
You need to know what current they require at what voltage.
Then you will need a driver between the arduino and the motor, and you will need a protection diode across the motor wires.
Well that's a start. let us know what you have.
If you wanted to run your motors forward and reverse, I would go with a motor shield. but for just one direction I think a fet circuit would work well.