Getting around Milwaukee by BIKE can be easy and fun if you follow a few simple rules. Bicyclists in Wisconsin are vehicles that have the same right to the road as motor vehicles but they also have the same responsibilities. This page will give you most of the basics of riding your bike in traffic.
For more in depth information, you might want to consider taking a safe bicycling class for adults. These classes are offered a couple times a year by the Wisconsin Bike Fed.