Welcome. I see you have already asked this on
edaboard.
We have no way of knowing your level of experience with electronics and programming, but what you need to do is either:
a) Find a driver that's already done the hard work for you. (Does
this help? I know very little about STM as a platform...)
OR
b) Write your own library. Someone on edaboard already gave you a link to get started with the HD44780 instruction set. First, work out the low-level steps to send data to the LCD - work on abstracting that to write letters and words. At the top level, you want a function like lcd_print(char *string), where you can feed it letters and away you go.