See this project:
Bluetooth-Enabled Smart Shoe
It includes libraries for : MPU6050, HMC5883L, MS5611
People here are all willing to help, but would not do it for you.
Please post your project so people can see what is your progress and what you have done, and see what was wrong.
If you don't have a project yet. Show people what your design for people to help.
Look at the documentation for the I2C module in PSoC Creator, and at the example projects for it (right-click on the component). Together with the MPU6050 datasheets (and maybe some google-fu for tutorials / example libraries) this should help you. If you have any actual questions regarding the component, don't hesitate to ask.