The title says it all.
My mom taught me how to ride by having me coast down a low slope in the driveway while she held on to the back of the seat and I kept my feet near the ground while trying to steer to keep upright. Then with feet on the pedals. Then while pedalling. Then one day I got all the way across the parking lot, turned around, and found she was still on the far side of the lot! That evening I nearly ran over my Dad coming around the corner of the house on his long (subway, train,car,foot) commute home. It was a treat to see the surprise and rare approval in his eyes.
So, how did you learn how to ride?