SAMS3D has a basic tutorial. Poser 5 manual, Chapter 35: Setup Room, also describes the process related to Poser only. I prefer to create the body part groups in the modeling app and use PhiBuilder to create a basic hierarchy. Then I tweak the Joints using the Joint Editor window. For UV mapping (for materials and texturing), if your modeling app doesn't have a UVmap editor, I'd use UVMapper by Steve Cox. This is a complex process, so start simple and get to know the various facets involved - and we're not talking polygonal facets! ;)

C makes it easy to shoot yourself in the foot. C++ makes it harder, but when you do, you blow your whole leg off.

 -- Bjarne Stroustrup

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