I didn't even use training wheels. I just started from the start. I just rolled down the driveway and tried to keep my balance. And then I started trying to use pedals and it just all worked out.
The first bike might as well have been called a "walking machine" - it didn't have handlebars or pedals. But then people started getting smarted and started adding handlebars and pedals, finally. You probably all heard of the penny-farthing. Well, that was one of the first attempts to absorb jolts. But then we invented suspension. And there really isn't much more to say about bikes.