'Rigging' bones to a vehicle model

[David Cameron]

I've been searching for hours for a guide showing the process of making bones work and can't find one which actual demonstrates what to do as well as explaining it (I found a video where he just rushes through and doesn't explain anything, and it just confused me )

[url]http://i.imgur.com/PuSUJze.png[/url]

I have this terrible model of a car, with 4 cylinders for wheels, and some bones which I've done nothing but placed there.

If someone could link to a guide showing where to go from here that would be great!