If you aren’t familiar with scientific computing with Python there are many sources to learn. You can start with the Python programming language itself, with the canonical source being the Python Documentation. The SciPy Lectures are a great intro to scientific computing with Python. Finally, to learn about how to do symbolic manipulation with SymPy, check out the SymPy Documentation, especially the tutorial.
We have a couple of tutorials. The human standing tutorial takes you through an entire workflow for a dynamics and control problem and is a good place to start.