There are a lot of tutorials around the net for doing just that if you look. Every modeler is different in how it applies it's functions, even if the basic idea is the same. There are also sites that explain the process of rigging and joint parameters in depth as well.

Hundreds of results come up when I do a search in Google. There are also tutorials on this site that cover all that, though you may have better luck with Google...lol.

Laurie