Most game/graphics engines today are capable to show animated character. Some have it as a ready-to-use feature. While the others, you have to manually program the animation.
I created the walking animation using Allegro.pas. Still not finished. I will submit that simple demo how to create a game using Allegro.pas to Graphics Contest 2017. There I will include a detailed step-by-step tutorial. I still have 1 month or more right? I am busy at the moment, but I am sure I can finish it before the deadline.
Flare is an interesting project. They have professional artists and programmers, and it is open source. But it seems the development has been slowed down or maybe stopped. nxPascal is good too, it caught my attention some years ago unfortunately I could not find tutorial about it.