There are several tutorials available online to help you with the walk cycle exercise. The simplest tutorial, which you may want to start with, is here:
Once you are comfortable with the technique, here are some others you may want to reference:
This is a great page with examples and tips on creating walk cycles:
Here is a link to scans of the original Animation book by Preston Blair, which is an excellent resource for animators, and has many examples of poses and techniques:
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