You'll need to put something between the BS1 and the motor; it could be as simple as a transisitor or as sophisticated as a full-blown motor controller. If you take the simple route, you'll be forced to write the motor control code yourself -- not a trivial task. That said, have a look at the BS1 Application Notes (you can download the PDF from www.parallax.com) and have a look at the "Fun With Trains" app.
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Jon Williams
Applications Engineer, Parallax