Open the FiveM console with F8, then use bind keyboard "key" "command". Example: bind keyboard "h" "e dance".
Control Reference
Keybinds
Hover over a highlighted key to see what it does in Novus Roleplay.
Key Preview
Key
Binding tip
How to change a keybind
NOTE Console commands require quotation marks around both the key and the command.
Use unbind keyboard "key" to remove a custom keybind from your controls.
For standard options, open Game Settings > Key Bindings > FiveM inside FiveM.