Training wheels worked very well for me.

My father put them on my first 2-wheeler, and he offset them with the idea in mind that I would balance without either one touching the ground, but if I tipped slightly to one side or the other, the training wheel would "catch" me.

I hated that! I refused to ride the bicycle. I begged him to set them up so that they both touched the ground.

So finally he agreed and set them up properly, and off I went with all 4 wheels on the ground (2 bicycle wheels, 2 training wheels), as happy as can be.

One day, he removed the training wheels, and off I went without them. I don't remember that part at all except that it wasn't a big deal. And I've been cycling ever since.