No matter what you do, plan it so that with lots of breaks time, and snacks time, all the usual things with any kid activity so that the whole experience is a fun one.
We did some bike activities with our kids and always did our best to make it just plain fun, to encourage doing more other times in the future.
that is great advice and something i have tell myself sometimes. although he has said that when we are riding together every ride is a race but he doesn't tell me so he can beat me haha