Freestyle BMX or "freestyling" is a creative way of using bicycles originally designed for bicycle motocross racing. It consists of five disciplines: "street," "park," "vert," "trails" or "dirt jumping," and "flatland." Riders generally participate in more than one discipline. Freestyling can be traced back to the San Diego teenagers Kyle Miller, Bob Haro, John Swanguen and William Crazy Lacy Furmage.

In late 1976, the three spent a lot of time on their BMX bikes at Skateboard Heaven, a concrete skatepark in their hometown. They were giving the skateboarders a run for their money, duplicating and topping a lot of the insane tricks. Soon they moved out of the skate pools and onto the streets, where they started developing new tricks that became the discipline known as "flatland", with the objective of blowing people's minds.

In the fall of 1977, Haro, then nineteen, left San Diego for a staff artist position at BMX Action magazine in Torrance, California. Every chance he got, he would practice his freestyle moves. It wasn't long before Haro's pastime caught the eye of fourteen year old Robert Louis Osborn (known as "R.L. Osborn"), and the two became friends and riding partners.

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