You can create a file named '.inputrc' in your home directory.
# want vi to be the default editor for readline
set editing-mode vi
# vi settings
# normal mode
set keymap vi-command
# insert mode
set keymap vi-insert
"jj": vi-movement-mode # remap escape
These are my mappings, with the exception of
h. I switched those here, to show you how you can switch keys.
I don't know the Dvorak keys you want, just modify all those keys like you want.
man bash describes all the possiblities.