Cycling is increasing in popularity which is accompanied with a higher rate of injuries sustained due to collisions, crashes or falls. A high proportion of these events happen when the bicycle rider loses control of the bicycle. In order to improve bicycle rider control, the skill of riding a bicycle needs to be understood. Therefore, the overall aim of this PhD work was to explore bicycle rider control skills and to examine the effects of different constraints on the control of a bicycle. The first part of this thesis focuses on developing a valid and reliable methodology that can be further used for studying bicycle rider control skill. Firstly, a protocol to determine knee angle during cycling is being developed. Secondly, some technical approaches when studying muscle activity during cycling are being questioned. Lastly, a portable device based on a single angular rate sensor to record steering rate and bicycle roll rate was tested for reliability in an outdoor setup. Second part of the thesis examines the effects on bicycle rider control of three different constraints: 1) expertise, 2) body position and 3) cycle lane design. Results overall showed that all three constraints significantly affect steering and bicycle roll rate.