Yes, they have the same meaning. However, they feel different. Present participles (like "riding") create images in the mind. They help you to imagine something happening. Infinitives (like "ride") only state facts. They do not create images.

The meaning is roughly the same but the context for use is different. The simple past "Did they ride...?" is used to simply find out whether or not the past action was completed. The past progressive "Were they riding ...?" is generally used to ask about a longer past action with a relationship to another past event. For example "Were they riding through the park during the storm last night?" If you want to discuss the use of past tense in English and practice together, book a lesson with me. 😊