The midpoint of these two points would be (3.5, 0.5)
In order to find this, you need to take the average of the two point that you have. To do that, add the numbers together and divide by 2. Start with just the x values.
(5 + 2)/2 = 3.5
Now the y values
(-3 + 4)/2 = 0.5
This gives us the ordered pair of (3.5, 0.5)