Each frame was drawn on paper and then scanned in and put in to adobe animate where I compiled it all together. There I created layers for each separate asset of the animation (a layer for the characters, a layer for the backgrounds, vfx, etc) and applied blending modes to allow the lineart of each layer to be visible at all times.
TVPaint has many features that allows for putting traditional animations together but I don't have that and I used Adobe Animate instead which meant having to do things more manually since that software is solely made for digital work.