About connecting and controlling an engine with an Arduino

Okay, I found pieces of Arduino and scrolled them to find a motor (https://www.robotshop.com/en/lynxmotion-12v-90-rpm-9911oz -in-1269-brushed-DC-gear-motor-w-encoder.html) and an engine driver shield (https://www.cytron.io/p-10amp-7v-30v-dc-motor-driver -Shield-for-arduino). I've done some research, but I can not find any article or anything about connecting this engine or other engines to this shield superimposed on my Uno. I've discovered the meaning of the motor connectors (https://www.robotshop.com/media/files/images2/encoder_specification_e-16ppr.jpg), but I still do not understand how to connect them and make them work.
I hope someone can help me, thank you!