Hello, Iñigo.
No, the MC33926 shield has additional logic on its input that the dual MC33926 carrier does not. So, our MC33926 shield Arduino library will not work with it. However, using that motor driver is relatively straightforward. You can refer to this post to get started. That post specifically refers to using the single MC33926 carrier, but you should still be able to use the same information for the dual version that you already have.
-Jon