Okay, this is a video of the late 90's TV series, Young Hercules. Why I am posting a link is that the character Chiron, Hercules' centaur mentor, appears prominently in this episode.
Though not the best show with the best special effects there are some good points: two brightly attractive lead male characters (Herc and Jason) and, of course, one active manimal, Chiron.
You'll have to go to Hulu and register to see it and Part 2.
Here's a more manly conception of the young Hercules with his newly tamed puppy, Cerberus: