Is it okay if I just connect directly from the output of the pic to the transistor connected on an h-bridge motor driver? Hope you comply with my message.

 

Need to know more about H bridge, whats it made from, n-channel or p and n channel fets? what voltage is the bridge rum from.

 

here is the circuit.

 

At the very least you need base resistors to make sure the current is less than the 20mA the PIC pins can safely supply.
What current will the motor draw? If it's much over 200mA then the circuit will need changes.
If the motor supply voltage is higher than the PIC voltage then changes may be required.