It really all depends on how comfortable you are programming the Arduino. From your questions, it seems like you might be more on the beginner side of things, in which case I would recommend something like our dual VNH5019 motor driver shield for Arduino. It is probably overpowered for your particular motor, and it has two motor channels, but it is designed to work directly with an Arduino and we have an Arduino library available that makes it easy to use. Alternatively, you might consider our Simple Motor Controller 18v7, which is lower power and only has one motor channel. There is sample code in the SMC user’s guide for controlling it with an Arduino.