Bicycle

 were a common means of transport for humans on Earth in the 20th and 21st centuries.


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20th century
Forester drove a big American car, which caused P.C. Bert Rowse to swerve his bicycle straight into a muddy ditch. (PROSE: Planet of Giants)

The Ninth Doctor, perhaps joking, claimed to have left Rose Tyler a red bicycle for Christmas many years before (from her perspective) they first met. (TV: The Doctor Dances)

Unknown century
The Second Doctor used a tandem bicycle along with a pedal-driven helicopter rotor to invent the pedal-copter. (COMIC: Attack of the Daleks)