Since $f$ is bounded, we may shift it so that $f\geq0$.
Since $f$ is Riemann-integrable, there is a sequence of step functions $h^+_k,h^-_k:[0,1]\to\mathbb R$ so that $0\leq h^-_k\leq f\leq h^+_k$ and
$$
\lim_{k\to\infty}\int_0^1h^+_k
=
\lim_{k\to\infty}\int_0^1h^-_k
.
$$
These are integrals of step functions and can be defined as finite sums.
The limit is the Riemann integral $R$ of $f$.
The Lebesgue integral $L$ of $f$ is the supremum of all $\int w$ for $0\leq w\leq f$ with $w$ simple.
Since $w\leq f\leq h_k^+$, we know that $\int w\leq\int h_k^+$ for every $k$.
But $\int h_k^+\to R$, so in fact $\int w\leq R$ and consequently $L\leq R$.
This shows that he Lebesgue integral is finite and therefore $f$ is Lebesgue integrable.
To get the value of the Lebesgue integral, simply use the step function $h_k^-$ as a simple function in the definition to see that in fact $L=R$.