Yes, 6 volt to red, ground to black. For the yellow wire you need to send a pulse lasting from 1 ms, to 2 ms, 1.5 ms being centered. You need to send this pulse many times a second.
If you dont have any programable robot brain then you could get an RC reciever and transmitter and connect the servo to one of the ports, or you could buy a specialized servo testing tool that allows you to send precise waves to the servo and watch its rotation.