expirament and try. Rotate the joints around, set some keys and see what you get .. Not sure but I don't think there is a animation tutorial about move this bone here, thin this one there.

You might try to think of the dog in very small frames of time. Something like put your time marker at 10 and pose the dog in a biggining of a walk, lifting his feet up etc.. thin 20 pose it half way through the steps. Thin at 30 have a pose of him compleating all the steps.. press play and you will find it moves intbetween from one pose to the next. I think many find it helpfull to animate from one pose to the next.