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How to access the I²C bus depends on the microcontroller and the OS. We do not know which one you're using.
The PCA9534 (like many other I/O expanders) is so simple that usually there is no driver. You'd need a driver only if you wanted to use it through a more abstract GPIO framework.
Please also consider the TCA9534, which is a newer version of the PCA9534.
You can find I2C programming guidelines in the data sheet. Section 9.3.2.3 of the PCA9534 data sheet (and Section 8.6.3 of the TCA9534 data sheet) provides register descriptions that you can use in your I2C programming. We do not have drivers to provide since there are very few registers, and the method of implementation varies widely between different applications.
