ZBrush is mostly a sculpting platform and isn’t tailored for rigging models like in Blender. The closest option to rigging in ZBrush would be to use Zspheres, which are premade armature made for adjusting and sculpting over. Rigging a model in ZBrush isn’t impossible, but you will need the help of another program that can do the rigging part. It is recommended, though, that ZBrush is just used for sculpting.
I hope this advice helps!