The best way to incorporate cycling into your life is to replace car trips with bicycle trips whenever it is practical.
Grocery shopping and errands can become a fun adventure on a bike. A backpack can carry a few items, but that will become cumbersome quickly. Look into bags and racks that can be fitted all around your bike. You can also attach a trailer to your rear axle to carry heavier loads. Insider tip: a baby seat can be used to carry a strapped-down bag of groceries.
Think of all the short trips you make: school, the gym, a park, a gathering at a friend’s house, the library, or just getting coffee. Many of those trips are likely only a few miles away and won’t take much longer on a bike than they would in a car. The more miles you put in, the shorter each mile will feel as you get stronger, and the more you’ll want to leave the car at home.
Commuting to work by bike can be trickier, mostly because the clothing that will be most comfortable for riding is likely not up to your workplace dress code. One option is to carefully pack your work clothes and change when you get there. Another is to drive one day a week, bringing a week’s worth of clean work attire, then bike the rest of the days.
"But won’t I be sweaty?” No one wants to be a sweaty mess at work all day, let alone be around someone who is. If your office does not have a locker room with showers, you can get clean in the bathroom with a washcloth, deodorant, and a change of clothes. Alternatively, membership with a nearby gym should give you access to the showers there each morning.
Lastly, consider mixed-mode transportation. Ride a bike for part of your trip and combine that with driving, public transport, and carpooling. For example, pedal your bike to a coworker’s house, carpool with them to the office, then pedal most of the way home and hop on a bus for the last few miles.