I use a program called AnimeEffects! i learned how to through youtube tutorials and some messing around with the program.
usually id place a move + scale key frame at the beginning, then i move the Time bar (i dont know the actual name of it lol) in between the 0.5 to 1.0 second mark then i would scale and adjust the character down a bit to give a sorta bounce effect? (make sure the animation is looped) its a bit hard to explain tbh..im still fairly new to this so i dont really know how to use more then 2 keyframes..
but it should look something like this (for that drawing you linked i only made separate layers for the head, body and tail) this image is more just a example of where i would position the keyframes
hope this helps ;v;