simple h-bridge polarity reversal
You can buy H-bridges with built-in drivers. Just look on Digikey. Their inputs are designed to be driven by a microcontroller and they'll often have a flyback protection diode built in as well -- verify this for your particular part.

If you want to roll your own you can do it with 2 N and 2 P MOSFETs but you have to select the parts carefully, paying attention to VGSth, Rds-on, and maximum drain current, VDSS max, to match your application. You'll also need 2 lower spec N-MOSFETs (and 2 pull-up resistors) to drive the gate of the P-MOSFETs as your microcontroller will likely not be able to drive it high and low enough to meet your needs.

I strongly recommend an off the shelf H-Bridge. If you really, really have a good reason for rolling your own come back with more details about your requirements: current, voltage and I'll help you.