Here is a little video of the walk cycle I did as a tutorial. This was quite straight forward to learn, it dealt with manipulating a rig into four different positions and inserting a keyframe for each one in the timeline. By pressing the I key the position of the selected parts become a key frame and will always move to that position at that time. It is a good idea to have everything selected on your model when making a keyframe for an organic object because other parts may move slightly as well.

The other part of the tutorial was making the model walk along a path rather than walking in place. by going into the NLA editor I was able to combine both the motions of walking and moving on a path to make the model walk along. This makes life easier, by being able to loop the walk cycle and just move it around it saves alot of time that would be spent making keyframes. The graph editor was able to change the velocity of movement to a constant rate by making it a vector line after pressing the key V.