Bem cavalgar, fully Livro da ensinança de bem cavalgar toda sela ("Book on the instruction of riding well on every saddle"), is a book written by Edward of Portugal, left incomplete as Edward died of a plague in 1438. It is one of the oldest remaining manuals of medieval horsemanship and jousting. Together with Leal Conselheiro, the other book written by King Edward, the manuscript is kept at the French National Library, Paris. It is the basis of the curriculum at the Portuguese School of Equestrian Art, one of the Big Four riding academies.
The book consists of three parts: "on will" (4 chapters), "on force" (2 chapters) and "fourteen recommendations for expert riders", breaking off in the seventh section.