How do I/What software do I use to create a drawing of an animal with manipulate-able limbs?

I am hoping to create a drawing of an animal with manipulate-able limbs, so I can animate it running etc. 2D is fine. I have no idea where to start with software etc, so looked around the web, but have been rather overwhelmed by the amount of information! Any help or direction would be much appreciated! Beth x

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