pH=-log10[H+]. Concentration of H+ ions is found by taking the anti-log. [h+] = 10^-ph. If using a calculator, put in -pH, then hit the 10^x button (which is probably shift and the log10 button).
The concentration of hydrogen ions is found by taking the inverse log (base 10) of the negative of the pH. So, if the pH is 3.5, [h+] = 10^-3.5 = 0.00032 m. Concentration unit is molarity.