This tutorial may be of help. It gives an example of how to use millis() and a simple state machine that uses a very similar sequence to the one you want.
Example 3: A SIMPLE state machine to show the traffic light sequence
A single traffic light is a good example of a system that can have clearly defined states; and the switch construct makes it easy to see how this can be implemented as a state machine.
Use the same arrangement of LEDs (see the fritzing) that you used in the first example.
This code also introduces the ENUM type declaration, and a very easy way to understand millis() timing.
At the start of each state we record the time "tim…