Vehicles for human transport that have two wheels and require balancing by the rider date back to the early 19th century. The first means of transport making use of two wheels arranged consecutively, and thus the archetype of the bicycle, was the German draisine dating back to 1817. The term bicycle was coined in France in the 1860s.

There are several early, but unverified, claims for the invention of bicycle-like machines. The earliest comes from a sketch said to be from 1493 and attributed to Gian Giacomo Caprotti, a pupil of Leonardo da Vinci. In 1998 Hans-Erhard Lessing described this as a purposeful fraud. However, the authenticity of the bicycle sketch is still vigorously maintained by followers of Prof. Augusto Marinoni, a lexicographer and philologist, who was entrusted by the Commissione Vinciana of Rome with the transcription of da Vinci's Codex Atlanticus. Later, and equally unverified, is the contention that Comte de Sivrac developed a célérifère in 1791, demonstrating it at the Palais-Royal in France. The célérifère supposedly had two wheels set on a rigid wooden frame and no steering, directional control being limited to that attainable by leaning. A rider was said to have sat astride the machine and pushed it along using alternate feet. It is now thought that the two-wheeled célérifère never existed (though there were four-wheelers) and it was instead a misinterpretation by the well-known French journalist Louis Baudry de Saunier in 1891

bicycle

Though technically not part of 2-wheel "bicycle" history, the intervening decades of the 1820s-1850s witnessed many developments concerning human-powered vehicles often using technologies similar to the draisine, even if the idea of a workable 2-wheel design, requiring the rider to balance, had been dismissed. These new machines had three wheels (tricycles) or four (quadracycles) and came in a very wide variety of designs, using pedals, treadles and hand-cranks, but these designs often suffered from high weight and high rolling resistance. However, Willard Sawyer in Dover successfully manufactured a range of treadle-operated 4-wheel vehicles and exported them worldwide in the 1850s

The first mechanically propelled 2-wheel vehicle is believed by some to have been built by Kirkpatrick MacMillan, a Scottish blacksmith, in 1839. A nephew later claimed that his uncle developed a rear-wheel drive design using mid-mounted treadles connected by rods to a rear crank, similar to the transmission of a steam locomotive. Proponents associate him with the first recorded instance of a bicycling traffic offence, when a Glasgow newspaper reported in 1842 an accident in which an anonymous "gentleman from Dumfries-shire... bestride a velocipede... of ingenious design" knocked over a pedestrian in the Gorbals and was fined five British shillings. However, the evidence connecting this with MacMillan is weak, since it is unlikely that the artisan MacMillan would have been termed a gentleman, nor is the report clear on how many wheels the vehicle had. The evidence is unclear, and may have been faked by his son.

bicycle

Though technically not part of 2-wheel "bicycle" history, the intervening decades of the 1820s-1850s witnessed many developments concerning human-powered vehicles often using technologies similar to the draisine, even if the idea of a workable 2-wheel design, requiring the rider to balance, had been dismissed. These new machines had three wheels (tricycles) or four (quadracycles) and came in a very wide variety of designs, using pedals, treadles and hand-cranks, but these designs often suffered from high weight and high rolling resistance. However, Willard Sawyer in Dover successfully manufactured a range of treadle-operated 4-wheel vehicles and exported them worldwide in the 1850s

The first mechanically propelled 2-wheel vehicle is believed by some to have been built by Kirkpatrick MacMillan, a Scottish blacksmith, in 1839. A nephew later claimed that his uncle developed a rear-wheel drive design using mid-mounted treadles connected by rods to a rear crank, similar to the transmission of a steam locomotive. Proponents associate him with the first recorded instance of a bicycling traffic offence, when a Glasgow newspaper reported in 1842 an accident in which an anonymous "gentleman from Dumfries-shire... bestride a velocipede... of ingenious design" knocked over a pedestrian in the Gorbals and was fined five British shillings. However, the evidence connecting this with MacMillan is weak, since it is unlikely that the artisan MacMillan would have been termed a gentleman, nor is the report clear on how many wheels the vehicle had. The evidence is unclear, and may have been faked by his son.