Ahh, the old PIC16F84A. That is the one I started with a am fond of it. It is a very capable PIC and used one in my first robot.
First about hardware: You will need some type of driver to control the motors from the PIC. A PIC's output pins can only sink/source 25mA max.
There are many projects on the web that use the PIC16F84 (or one of the other mid-range PICs). Do look them up and study schematics to learn how to wire them. You will need a 100nF cap on the Vdd to Vss pins of the PIC and a 10k pull-up resistor on the MCRL pin.
The best tutorial for learning how to use and program PICs is this one:http://www.gooligum.com.au/tutorials.html
Do start with the Base-line PICs and assemble code. Once you get through the lessons the data sheet will make much more sense. Don't worry about not have the PICs used in the lessons as you can use the Simulator built into MPLAB to run code. Read the Help in MPLAB as it has much useful information.
You did download the Free MPLAB IDE from Microchip, right? If not then do so. After you learn assembler then go on to the C lessons in the tutorial and download the Free HiTech C compiler from Microchip.
Good luck and have fun.