There's nowhere near enough information here to help you. You need to say what you've tried, why it doesn't work, post some code.
There are two twi libraries which ship with the SDK, twi_hw_master and tw_sw_master, you just add them to your code and call the setup functions and the read functions and the write functions and you have a TWI connection. There are even some modules in the SDK which use them, in fact not only are there modules which use them, one of them is an MPU6050 module, right there in the SDK. Have you tried it?
