I started taking Rocket as soon as I got him, so he got used to it when he was still little (and easier to control). At first, he would try to bite the tires!!! I had a couple wipe outs at the beginning, but now he kinda 'gets it'.

Is there an area where you could ride where it's ok to be off-leash? Maybe if Bailey gets used to you riding first before you try to lead?