We are in the process of doing the latter - and I wish we'd started this process years ago. Because we didn't, we are just starting him on training wheels, and Bean is, quite understandably, nervous about the whole thing. Once he gets going, he enjoys it, but the journey to getting going is paved with arguments, tears, yelling, and endless, endless braking. It took us 40 minutes last night to get from the corner to our house. This is exhausting.
And he keeps saying, "If I were learning to drive a car, I wouldn't be so scared!"