A few hints about that, provided you are using Blender 2.8.2.
First, save it from ZBrush with the FBX export plugin. It's important to use FBX and not OBJ for it handles FBX imports far better. Have the settings FBX 2019 and Bin. Not ascii. The new Blender will only work with binary files, not asc2 text files.
After deleting the default block, open your FBX file in Blender with the FBX import. Make sure to have the scale option set to 100, not 1. This will scale up your model, or it will show up real small with a scale of 0.01 in the xyz.
One unit in ZBrush is in mm. One unit in Blender is in m.
In the viewport upper right, go to the four viewport shading options. Select the solid mode. On the down arrow tab, just to the right of the viewport shading options marked shading, click on it.
In the popup select MatCap. Below that select vertex.
Out in the viewport, select your imported object. Go to the Materials property tab on the far right. In the base color selection, click on the little circle to open a popup window. Select "vertex color" on left side of the popup.
A new selection should be available right below base color. Open it and select the option "Col".
You should now be able to see your model that was painted within ZBrush with all its vertex colors. Provided you did paint a model in ZBrush, and it does have vertex color data just from doing that.
Hint, if you plan on painting it in Blender, make sure when selecting a color off the model, switch your viewport view from MatCap to flat. Then back to MatCap after getting your color. Or you will not be getting the color you may want to get off the model.
And when painting in Blender, do it in the solid mode view only, or painting will be real slow in any other view setting. O.o
To tell the truth, I am just learning a little of Blender myself. Along with ZBrush. You have also made a much better looking model in ZBrush than I have.
And I too want to port models over to Blender from ZBrush for animating, some day. When I get good at it.
A few hints about that, provided you are using Blender 2.8.2. First, save it from ZBrush with the F
For me, it be a back and forth thing. I'd be looking to use Blender to block out a form. It be a quick way of bashing out what I want, as a base shape.
Port it over to ZBrush to refine and color it. And even make a low poly retop with a UV map. Port all of that back into Blender to use it in there.
I already know much of the processes. I just need to get good and proficient at it. O.o
If you wish to get good at rigging and animating, have a look at this guys videos. Seriously, have a look!
His vids are short, and to the point. A must see set, if you ever want to get into rigging in blender 2.8.
Having done it myself in LightWave 3D, I know it is not a quick nor fun task. Between having some good topology to start with, the right set of bones set in the correct orientation and correct parenting, good weight maps, and if using IK, some well placed bone goals and bone limits.
It can be a lot of time-consuming hard-work.
The one good thing about it is, if it's done right, you can do a lot with it. Everything from setting up poses for high quality still renders, animations, and a halfway setup for use in games. ^.^
Having done it myself in LightWave 3D, I know it is not a quick nor fun task. Between having some go