In most states of Australia, the law prohibits cycling on the footpath by people over 12 years of age. Personally, I think the standard of cycling education provided for children is absolutely dismal. The truth of the matter is, if you know how to behave safely in traffic, the road is much safer in virtually all situations. However, most education does not teach this, and instead preaches "get out of everybody else's way".

I think you should start the transition gradually by using quiet back streets and gradually working your way up. I honestly believe that once you get used to it, you will find the road much safer. Remeber that only about 3% of cycling/car accidents are caused by the cyclist being hit from behind. The happen in situations where their paths cross directly. Note here that the footpath/sidewalk has a greater amount of the latter because of driveways, parking lots etc.