I'm not an experienced animator, but here's how I'd aproach each cycle:
Don't worry about details, just quickly scribble the character at first.
Draw a basic view of the character between steps (neutral height)
Copy the basic view, shift it down a pixel or two and rearrange legs/arms (for the downstep)
Make another copy, shifting the basic view up a pixel or two, again redrawing the legs/arms (for the high point when the character is beginning a new step)
That will give you key frames for half of the walk cycle. The other half can be based on the first. Play around with that until you like it, and then start doing the actual drawing and any in between frames you want.
I hope that addresses your question. If you were wondering about something more specific, I'd be happy to try and help out.
Don't worry about details, just quickly scribble the character at first.
Draw a basic view of the character between steps (neutral height)
Copy the basic view, shift it down a pixel or two and rearrange legs/arms (for the downstep)
Make another copy, shifting the basic view up a pixel or two, again redrawing the legs/arms (for the high point when the character is beginning a new step)
That will give you key frames for half of the walk cycle. The other half can be based on the first. Play around with that until you like it, and then start doing the actual drawing and any in between frames you want.
I hope that addresses your question. If you were wondering about something more specific, I'd be happy to try and help out.