>There are a couple of ways:
Breeding.
>- If both parents know a Level Up move of the baby Pokemon, it will know it as well. If 2 Torterras both have Leaf Storm and breed, the baby Turtwig will know Leaf Storm.
>Egg Moves.
>- If the male breeding has an Egg move that the baby can learn, then the baby will know it. If a male Hitmonchan with Ice Punch breeds with a female Lopunny, Buneary will know Ice Punch.
>TMs&HMs.
>- If you have TM26 Earthquake, and you have a Level 5 Geodude, it can learn Earthquake. Simple stuff.
>Move Tutors.
>- If a Pokemon is eligible to learn an tutor move, it will learn it, regardless of level, when the move tutor is paid. Buneary can learn ThunderPunch at Level 1 from a Move Tutor.
Source
Your situation is at number one.You can pass down Level up moves. If a Male and Female Rapidash know Flare Blitz, then the baby Ponyta will learn it because it gets passed down.