How do I animate models from Blender?

My title sums it up. I cannot figure out for the life of me how to do this. I cant seem to animate anything in blender, because the blender animation system doesn’t make any sense. Also, if I try to animate in unity, I get all sorts of errors about “legacy” or something… help?

Basically what are the steps I need to do to make my blender guy walk.

Check this out. Beorn Leonard was chief animator for the Blender Foundation Movie Sintel

Check this out.