Process to make VM highly available actually was not so difficult and consisted of to steps:
1. Move VM files to CSV disk. To do this open Hyper-V Manager, right-click VM, select Move, in the Wizard select to move virtual machine storage
then select to move all VM files:
For the new destination specify the Cluster Shard Volume.
2. From the Failover Cluster Manager console right-click Roles, select Configure Role. For the role type select "Virtual Machine":
In the next step you will be able to see the VM that is not yet higly available. Finish the Wizard and VM will be higly available. That's it!
The only thing to note is that for Windows Server 2012 Hyper-V cluster the VM can be online, but for Windows Server 2008 R2 clusters the VM must be offline.