Delay with servo motors

I´m using 4 sevormotors 360º, What I want is, create like a wave, I want the firts motors start, and then come start the second motor and the firts motors keeps running for 2 seconds more, then start the third motor, and the second motor keep runnign for 2 secons more and and so on with the other motors.

The fuction delay it`s not going to work, I think I have to use Millis() but I dont nothing about millis function.

I´m new with Arduino and Programming. I really apreciate your help

but I dont nothing about millis function.

Calling millis() is like looking at your watch. Can you describe how YOU would make the servos move, if you were the Arduino? If/when you can, implementing the code is simple.

The demo several things at a time illustrates the use of millis() to manage timing.

...R