Blender is free, and it's very capable of making what you want, but it's not exactly beginner friendly. You may spend a few years learning how to use it.
In my opinion, the most beginner friendly software is iClone, and it runs about $150 for the Pro version, most of the time. The problem is, you may not be able to get the look you want; at least not without buying some material packs, and playing around with it for a while.
Poser and Daz both have more realistic rendering, and I would have to say that Poser is better for animating than Daz, but both of them will require more learning before you can create an animation. Just bear in mind that people go to college for years to learn 3d animation. Don't expect that you can create something truly amazing in a day. That being said, I still believe iClone will be your best bet.
No matter which program you get, you'll get a manual for it that's about 900 pages. There's a lot to learn.
I'll likely be posting an article very soon that will detail the differences in the biggest 3d software. Keep you eyes peeled for it at cartoonlearning.com if you want to know more.