This is a classic problem : ) There are dedicated level converter devices (check, say On Semi, I think they make some). Alternatively most likely if you connect them directly,
chances are it will be ok - since the GPS module only has an output, and no input. You certainly don't want to connect a 5V output to a 3.3v input, but the opposite case is probably ok.
If it doesn't work then you need a level converter. If you want to make one, then it could be done with mosfets, but for that much hassle, just use a level converter
(but try to connect it without a level converter first).