A short visual check is a useful habit. Follow the guidance supplied with your bicycle and components.
Check for visible damage and use the pressure range specified for your tyre and rim combination. If you are unsure, ask a qualified bicycle mechanic.
Make sure both brakes respond normally before setting off. If braking feels weak, unusual or inconsistent, have the bicycle checked before riding.
Check your lights and carry what you need for the route and conditions. If anything feels loose or damaged, get it checked rather than guessing.