Lucario learns Drain Punch via TM. Drain Punch is TM60 and this will show you how to obtain it.
Lucario learns Blaze Kick via breeding. You can read about breeding here if you need help. In this case, you will need to have a male Pokemon that knows Blaze Kick and breed it with a female Lucario. Of course, the male Pokemon which knows Blaze Kick has to be compatible with the female Lucario.
