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A bicycle maintains its balance when in forward motion by being steered in the direction of any lean that develops.

When a rider notices the bike starting to lean, say to the left, he steers the bike a little to the left. Once the bike is moving in a slightly circular path to the left, the centripetal force of the turning bike generates an outward force at the center of gravity of the bike, which is well above the ground, thus cancelling the tendency to fall. Next, the rider adjusts his path to the desired direction of travel. Now the centripetal force is proportional to the square of one's speed, so the faster one travels, the smaller the steering required to right the bike. When the bike is stationary, there is no centripetal force available and one needs a totally different, and much harder technique, to maintain balance. The centripetal force is from the circular path of the bike, and not from the rotation of the wheels.

Several features of most bikes help with turning towards a lean and, under certain circumstance, may even keep a riderless bike upright. One is "trail" the distance that the front wheel contact point trails behind where the steering axis intersects the ground. As the bike leans, the upward force of the ground on the wheel combined with this distance creates a torque about the steering axis that tends to turn the wheel in the direction of the lean. Another is gyroscopic precession. As gravity pulls down on the center of mass of a leaning bike it creates a torque about the line between the contact patches. The spinning wheels tend to precess in response to this torque, meaning they tend to rotate about an axis that is perpendicular both to their spin axis and the axis of the applied torque, an approximately vertical axis. The rear wheel is prevented from precessing by friction between the wheels and the ground. The front wheel, however, has some freedom to precess about the approximately vertical steering axis, and thereby tends to steer in the direction of the lean. These two effects, plus some other usually smaller ones, depend on the bike's geometry, mass distribution, and forward speed. For a traditional utility bike, the forward speed at which they effects are able to keep a riderless bike upright, even when bumped to the side, is between 4 and 6 m/s (9 - 13 mph).

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