How do you ride a bike?
You can learn to ride a bike by starting with training wheels.  This will help you to develop your balance as muscle memory in body.  After you ride for a couple weeks with training wheels you can remove the training wheels and use your feet to help you balance.  With enough speed you will want to put your feet on the pedals and get enough velocity to keep your balance going in a straight line.  Practice this for a couple days, and then you can practice turning and use your feet if you lose your balance.  Do this for a couple more days and then you will be off to the races riding your own bike with perfect balance.