The following videos will take you through the process of rigging a quadruped in Houdini 16.5. You can follow along with the files provided and download the final rig.
For more tutorials check out: https://blaabjergb.com/houdini-rigging/
https://vimeo.com/241847500
https://vimeo.com/241847500

For more tutorials check out: https://blaabjergb.com/houdini-rigging/