Here´s a very basic rigging tutorial for Cinema 4D.

It shows the basics of how to make a geometry and place the bones

correctly onto the geometry. As well as how to make restriction tags

for each bone and finally add a xpresso controller to control the animation.

Bones setup

Polygon selections for each bone

Vertex weights setup for each bone

Setting up restriction tags

Setting up XPRESSO with user data

You can watch the intro part here for free.

http://www.kraphik3d.com/tutorials.html#bookpage

Or watch it on youtube

http://www.youtube.com/watch?v=_iJUnbQ93cQ&eurl=http://www.kraphik3d.com/tutorials.html

Buy the tutorial

http://www.payloadz.com/go/sip?id=539881