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Help us translate Steam
For rigging, you generally use any 3d modeling program capable of animation. Examples would be Autodesk Maya (valve's preferred program), 3Ds Max, or Blender if you want something free of charge.
For getting the model into sfm, I'd suggest looking up some tutorials. Generally, you export your model/rig in the .smd format, compile it into an .mdl file so that source engine can read it. Then place that new file in your usermod folder.