Ok heres from my experience with compose the other night. I haven’t used it much however from what I did I was successful. Read the manual about compose to get a better handle on what I am talking about below.
The main thing is that when setting up a cycle as you know, your starting points need to be your ending points. So with that said, pick your starting points (for all keyframed items) then move everything that is to get keyframed to your ending point (further along the z I am assuming). Also be sure to move the time slider further ahead to a new frame or all this will be in vain. From there animate all your inbetweens and you should then have you character moving from point a to point b with any required motion happening inbetween.
Next you will make that animation into a clip in compose. I believe you can either use the clip or the cut function to do this. I can’t remember which one I used offhand. Again, refer to the online docs for correctly making a clip
After all that is done drag a copy of your clip (mmb + Alt I believe) onto a new track.
When that is complete drag off another copy to another track and bump the two clips against one another. repeat as many times as necessary.
Last, see that icon that is the equal sign next to the clip name in the panel to the left? Turn that over to +, it will accumuliate the motion so that your character will not keep resetting the position. You must do this for each clip so that the character will perfom properly.
Also, I am assuming that if your character needs to go around corners or whatnot you will either have to keyframe that manually or add additional clips of the character doing whatever you choose.
This help any?