Using Mini Maestro 24 to control servos via Arduino code

I have a Pololu Mini Maestro 24 board. My intention is to drive code serially to the board using Arduino 1.0.6. I am unable to communicate directly with my servos using the Maestro 24 and a USB cable. I was told to use an Arduino board to communicate with the Maestro serially but I am not sure which board or how to connect.

Is there a tutorial for this method?