This is something Windows does much better than the Mac, since Windows lets you access minimized windows from Alt-Tab.
On the Mac, it's much harder. To get it back from the keyboard, you have to press the shortcut that sets focus to the Dock (I think this is Fn+F3, check your Keyboard system pref because I think I changed the default), then arrow key over to the icon of the minimized window, then hit Spacebar to open it. It's so much trouble doing it with the keyboard that you'll probably end up giving up, grabbing the mouse, and clicking the Dock to restore the window.
You might want to try the shareware utility
Witch, because it adds an enhanced switcher shortcut that can access any window directly, including minimized windows. This would bring the flexibility of keyboard access up to the level of Windows.