He's right. In most places I've been it is actually "illegal" to bike on the sidewalk. It is one of those things that is selectively enforced. You probably won't get any issues doing it if it is a suburban, lightly used sidewalk, but it isn't technically allowed.
I have yet to see or hear of anyone on a huffy getting stopped by police
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Never got an injury when I rode on the sidewalk, but I took several spills trying to ride the edge of the roads. Still, local codes/laws can make it illegal. State law in Florida allows bikes on sidewalks, but in Orlando, for example, it isn't allowed, even though it isn't really enforced.