New to arduino, help wiring relay
To drive a relay you'll need a transistor (a MOSFET is a good choice) and you'll need a diode across the relay coils to protect the transistor from the reverse current pulse when you remove power from the relay coils.

As Majenko says, if you Google "Arduino relay" you'll find lots of articles covering the topic. (And if you use a digital output line from your PI the exact same circuit will work.)

This MOSFET is a good option for switching high current loads with a 5V logic signal:

https://www.adafruit.com/product/355

The diode will need to be a power diode that can handle your voltage/current needs. You'll need to figure out how much current your light bar uses, and then I'd suggest a diode that can handle twice that much current (at 12V) for a margin of safety.