Maybe watching some of these courses will help?
Starting with the Fundamentals:
https://cgcookie.com/courses/learn-how-to-rig-anything-in-blender-fundamentals-of-rigging
https://cgcookie.com/courses/rig-blender-s-character-rigging-playbook
https://cgcookie.com/courses/off-road-rig-and-animate-an-rc-monster-truck-in-blender
