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You would need to gather the correct amount of herbs and materials, then place them in a crafting table or a mortar and pestle. The cure would be crafted, and you could heal yourself.
Animals could also become sick, and they would have the same injuries, diseases, illnesses, etc. as the player. These could be crafted as well, but you would need to either mix it with grass, pumpkin, or meat (depending on if the animal is an herbivore, "pumpkinovore", or carnivore) for them to eat it.