I think you may mean "pedal a bicycle." As you know, bicycles are "powered" forward by a human rider who puts his/her feet on the pedals, generating forward motion by means of a circular pattern of the pedals around the gear. This action is called "pedaling a bicycle."

In Taiwan we say 騎腳踏車 and it means to ride a bicycle. Likewise you say 騎馬 which means ride hourse. I'm not sure if in mainland china they say it differently.