Another possible translation: "We rode bicycles." In fact, arguably better than "We got on bicycles."

Etymology (baiskeli)

Borrowing from English bicycle.

Noun

baiskeli (n class, plural baiskeli)

1) bicycle

From Wiktionary: https://en.wiktionary.org/wiki/baiskeli

You don't "board" a bicycle (a recommended translation), but you may "climb" it (marked wrong), at least in England.

Another recommended translation was "we got on the bicycle": this would have to be a tandem. "Bicycles" was marked wrong.