This was exactly how I just learned. The first time I took the class - the class size was roughly 15 people with three instructors (3 hour class) - 3 years ago. The second time I decided to have a private one on one session which took me a little further as far as balancing and attempting to pedal after coasting down a sloped parking lot - one month ago.
I practiced a little at a time with a friends bicycle and with her help she would give me a little push down a slight slope (again in a parking lot) and was getting closer to pedaling. My"ah-hah" moment was figuring out what to do with my feet on the first down stroke and how I had to shift my weight back as I did this and then shift forwards once I was pedaling with both feet.

