Ride

in

And of course you can also drive a car.

And of course you can also ride a bicycle, a donkey, a camel, or a horse.

Dear madam, is there any rule which tells us when to use 'ride' and when to use 'drive'? If there's any, please tell me about that.

Thank you.

There may be exceptions to this rule but, generally speaking, you ride something when you have to sit astride the conveyance in order to travel.