Look at Nuts and Volts Column #6 which shows in general how to connect a motor or relay (or any relatively high current device) to a Stamp I/O pin. Note that this will only allow you to turn the motor on and off. If you want to reverse the motor, you'll need something called an H-Bridge. Look at the Wikipedia article on this for details on how it works. Parallax (and companies like Pololu) sell DC motor controllers that have H-Bridges inside. There are also articles you can find on the Web that show you how to build your own H-Bridge.
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