This is a maya 8.5 lesson but Jason really wanted to cover this crash course in animation for Zbrush users. This is everything you need to know for a pose to pose animation setup. This is geared towards illustrators to learn the basics, not full animators.
NOTE: This link is to a Flash version of the first 5 minutes of this 60+ minute tutorial. A download link is provided on the page for the full WMP tutorial.