I think I was about 8 or 9 when I really learned how to ride a bicycle. I say really because I did ride a bicycle, but then with training wheels. Most of my friends already knew how to ride a bicycle, but I was kind of lazy.
Until then I could ride on the luggage carrier of my parents bicycle or those of my older sisters. And I had a go-kart with pedals which I was driving all day back then.

But my sisters insisted on how to ride a bicycle. They removed the training wheels and made me ride around the block. At the start they held me, but after a while I kept my balance and I was riding solo.
I was riding round after round and got more excited after every round. Until I got too excited and crashed into a road sign. I still remember it as if it was yesterday. I was angry and didn't want to go on that stupid bicycle again.
But my sisters comforted me and got me back on the bicycle again soon.
I experienced that sometimes you need to learn through trial and error.