user1060: I am trying to connect a 2 cell 7.4 volt LiPo battery into my motor shield. I am a beginner at robotics so I am not sure if I just connect the battery, via a connector of some sort, into the motor shield itself or do I use some 22 AWG wire and connect it via that way. Sorry if that sounds confusing. 

user643: it is up to you.
Welded cable is better, but you will probably need a connector, so you should take care to use low-ipendance one that can hadle your current need, like bullet connector used by RC toys.
Also the battery should have a discarge current higher that the maximum current used by the engine: normaly this can be calculated by the discarge factor (labeled as 'C' on the hobbyst battery) multiplied by the capacity in Ah o the battery. Pay attention to this as this can damage the battery and alco cause lipo-fire, witch cannot pulled off with just water, you need an extinguer. (this is what happen when you short-circuit the + and -)

user11: From the Motor Shield page,

External (non-USB) power can come either from an AC-to-DC adapter
  (wall-wart) or battery. The adapter can be connected by plugging a
  2.1mm center-positive plug into the Arduino's board power jack on which the motor shield is mounted or by connecting the wires that lead
  the power supply to the Vin and GND screw terminals, taking care to
  respect the polarities.

So they provide the screw terminals for a battery, you should be able to insert two wires from your battery/pack into the terminals. If your battery has a connector on it, you'll need to either cut it off or find an adapter.
Be extra careful: if you have exposed leads from your battery and they touch, it'll get extremely hot and possibly catch fire.

1060: <p>I am trying to connect a 2 cell 7.4 volt LiPo battery into my motor shield. I am a beginner at robotics so I am not sure if I just connect the battery, via a connector of some sort, into the motor shield itself or do I use some 22 AWG wire and connect it via that way. Sorry if that sounds confusing. </p>
 643: <p>it is up to you.
Welded cable is better, but you will probably need a connector, so you should take care to use low-ipendance one that can hadle your current need, like <code>bullet connector</code> used by RC toys.</p>

<p>Also the battery should have a <code>discarge current</code> higher that the maximum current used by the engine: normaly this can be calculated by the discarge factor (labeled as 'C' on the hobbyst battery) multiplied by the capacity in Ah o the battery. Pay attention to this as this can damage the battery and alco cause lipo-fire, witch cannot pulled off with just water, you need an extinguer. (this is what happen when you short-circuit the + and -)</p>
 11: <p>From the Motor Shield page,</p>

<blockquote>
  <p>External (non-USB) power can come either from an AC-to-DC adapter
  (wall-wart) or battery. The adapter can be connected by plugging a
  2.1mm center-positive plug into the Arduino's board power jack on which the motor shield is mounted or by <strong>connecting the wires that lead
  the power supply to the Vin and GND screw terminals, taking care to
  respect the polarities.</strong></p>
</blockquote>

<p>So they provide the screw terminals for a battery, you should be able to insert two wires from your battery/pack into the terminals. If your battery has a connector on it, you'll need to either cut it off or find an adapter.</p>

<p><strong>Be extra careful:</strong> if you have exposed leads from your battery and they touch, it'll get extremely hot and possibly catch fire.</p>
