I bought a kick scooter to accompany them when they went on their first trips on sidewalks - it gives you the right speed, manoeuvrability and height to grab them the moment they steer into cars or traffic or other people walking by. On your own bike you are too high and too far away to intervene fast enough.

When they get bigger and can tour with you it’s very, very nice - they can go much farther than one might anticipate. Pack enough food - cycling drains energy fast. Have fun :)