My first time riding on public streets with no prior experience I got right onto a major highway, and took a little 50 mile road trip at first I was a little scared but adrenaline quickly overpowered that. I had a group of friends about 4 or 5 riding in front of me and behind me. And when it was time to change lanes my friend behind me went first then me. I felt totally safe and don't think I could of done it without them. So I think experienced friends are the key. Actually they weren't even friends I only have 1 other friend who rides a much bigger bike, he invited me to ride with his group and they all took me right under their wing and we all became good friends. lol
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