If you want to ride clipless, you have to have a "system". You have to always clip in/clip out exactly the same way. The more you do it, the more natural it becomes. Most of us fall at least once, but a skinned knee or bruised pride is all that happens. Pay attention to what you are doing and stay focused until you are confident.
For me, I start out clipping in my right foot. Make sure you are holding the brake down while you get the foot clipped in so that the bike doesn't roll away on you. Then I raise up my right foot to about 2 o'clock and push off on my right pedal, hoisting myself up into the saddle. Then I clip in my left foot. Try not to look down or lean to the left when clipping in the left foot... feel for the pedal and clip in. If you can't get it on the first try, you can usually turn the crank once or twice without actually being clipped in. I've crossed a four lane highway with only right foot clipped in, so you can do it if you are focused.
When I need to stop, I unclip my left foot first while braking. I sometimes let my left foot hang down a bit without hitting the ground if I am coasting up to a stop sign or light. When I've fully braked, I put down my left foot. Make sure you have control of the bike.. don't let go of the brake until you are firmly planted. Don't lean the bike to the right or you may take off like a one-legged girl on a skateboard... I know, 'cause I've done that!
So, now you are stopped, right foot still clipped in, left foot solidly planted. Time to go, raise up the right foot to 2 o'clock, push off, hoist up in the saddle, clip left foot.
If you always do it this way, you will be astonished how natural it becomes... a good habit. And if you have to stop fast or on a hill, you can pull that left foot out really fast, plant it, make sure you are applying enough brake to stop rolling and don't lean to the right!
Make it a mantra that you say to yourself over and over until you are unconsciously competent! Practice, but most of all stay focused...not enough brake or leaning the bike are the 2 main reasons you will fall.




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Good luck!!