Riding a bicycle is an acquired skill. At rest the system is highly unstable yet, given some forward speed, it is easy to stabilize. Over the past 150 years scores of people have been attracted to this subject, either for a dissertation, a hobby or sometimes as part of a life’s work. Unfortunately, few results agree and there is little generality on the basic features that make a bicycle stable and why some bicycles are easier to control than others. In this talk I will focus on the dynamics and control of the bicycle and the implications for vehicle handling and safety.