MOSFET H-Bridge Shunt Resistor position
That is the location where it is commonly placed.

If your shunt is really only 0.1 mohm,  you will need to ensure you use a 'Kelvin' connection to measure the voltage across it. You will have to connect GND of the micro controller at the bottom (GND) connection of the sense resistor, else the additional wiring resistance will swamp your readings.

You will also need to be careful about inductive spikes, and perhaps need a decoupling capacitor on the 24 V to make your whole system work.