- Bike safety course
- Start riding on streets with no traffic and work your way up to more difficult streets
- Ride with a bike nerd friend who can critique and give you pointers

Make sure you are very comfortable controlling/riding your bike before riding on the street. With time and experience, you'll feel more comfortable. Do you drive a car and remember what it was like learning how to drive? This will be a bit similar. You will gain confidence and more street smarts with riding experience.