My kids are all boys, and it has therefore been easier for me. We didn't have a car, and therefore it was also easier for me. We live in a city, which is therefore, actually, easier.
But I believe it has been crucial that they have had their freedom to get about.
One small matter about helmets: I have used a bike for 30 years as principle transport. I have fallen off three times. Only once every ten years. Hardly seems worth the helmet does it?
But one of those times, in no traffic, on a quiet road, turning right, the wheels simply slipped out from under me and deposited me on my head.
Helmet in three pieces, me a little wobbly for two days, and that was all.
Story had I not been wearing helmet? I shudder to think.
Hate to see kids cycling with helmet dangling from their handlebars. But I know many of these kids, and know that their parents never bother with a helmet, so what can they expect?
Good luck, be brave. Marj