Sooner or later you'll just have to take the plunge, start out on roads you know well and go at a pace that is comfortable for you. if there's traffic behind you just pull over and let them go rather than trying to go too fast, there's a lot to think about when riding and you need to concentrate far more than in a car but it becomes second nature quickly so try to get out riding as often as you can.
If you have someone experienced who will ride with you and give feedback on your riding that's great but I learnt on my own and it was fine.
REMEMBER, GROWING OLDER IS MANDATORY. GROWING UP IS OPTIONAL.
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