My son is learning how to ride a bike and we were sort of anxious about taking the training wheels off until my wife’s cousin told us how he did it with his daughters. He said, “Just take him to a grassy hill that goes slightly downhill. Then he can just use the gravity of the hill to go forward and when he falls, he’ll just fall on the grass.”
When he falls. Not if.
That’s the thing. If you know you’re going to fall, then pick a good spot for it.