Here is an image of the keyframes for a walk cycle viewed from the side, taken from The Animator's Survival Kit by Richard Williams. The book itself has explanations and visual examples of most things you'd need to learn the principles and basics.
Essentially, you need your character to go through these positions to look like a convincing walk, and get that tell-tale walking "bounce". The arms should move opposite to the legs, so right arm forward while right leg is back and vice versa.
