Build an H-Bridge Motor Driver with 4 N-Channel MOSFET
Check out this device.

http://www.linear.com/product/LT1910

It's a high side N-channel MOSFET driver. I think that it has a little boost converter internally. We've just started playing with these and it will drive the MOSFET gate to 20 VDC with a 12 VDC supply. Nifty huh?!?

Though the device isn't fast, relatively speaking, so you would be better off doing PWM for speed control on the low side MOSFET. You can get a regular FET driver to do this with your 5 V input.