How do you rig an object with bones?

I'm a little confused on how to do this. If you're wondering, yes I know how to use blender. I've tried using blender once for bones but it ended up not working. The reason I'm doing this is because I want to try IK.

 

Maybe there is some confusion what bones are. As far as it concerns unity, they are just transforms with a name. And those transforms happen to be connected to the weight-painting of vertices on a skinned mesh, that is why they can deform a model.
You should just check out any rigging tutorial for blender and try following it. This one for example.
I think after you have a working rig you can start looking into IK stuff in unity.