Modelling for future animation

I’m making a model that I will want to walk evetually but I’m not sure what to when it comes to the joints of the legs and arms. If anyone has any help they could lend or tutorials they could point me to, that would be great. I tried searching but couldn’t find anything.

If it’s like a humanoid model you don’t need (or want) any joints, just one contiguous mesh. If it’s a mech then you can parent each seperate object (upper leg, lower leg etc) to a seperate Bone and arrange the bones to coincide with the joints.