Windshield Wipers

I have a 2001 Mazda Millenia, 52k miles with a 2.5 liter engine. It snowed a few weeks back and the wipers were stuck in the up position. I started my car and while one wiper went down, the other remained frozen on my windshield. Ever since the wipers have not worked. When I turn them on I can hear the motor running but neither wiper moves. I'm not sure what is wrong but I would like to fix the problem myself if possible. Thanks.