How To Load And Use Animation Controllers?

While I was reading up on an article on How to animate Non-character parts, it said make Motor 6D's (which I Have) and An Animation which I will do soon, But then it said insert an animation controller. How Do YOu Do it? It then said put the ID of The animation you uploaded. How do I put the animation into an animation controller. I also found out That AnimationController is an Instance. So ina script, Would I do "instance.New ("Animation Controller"). If so, How would I insert My Animation ID. Can You Give Me Help Using The Id 12345678, So i can understand what to do? Thanks/

I made a example to help, you could edit it and fix it! { https://www.roblox.com/library/592768025/Starter-Character }

Roblox Animator Editor 3.3.1 { https://www.roblox.com/library/144373835/Animation-Editor }

Character Editor { https://www.roblox.com/library/171922549/Character-Creator-BETA }

Or try searching on youtube Starter Characters