If you are just riding the horse you do not need any ranks in ride as that really does not take any thought at all. In combat however things change a little bit as then if you get hit you might need to make a ride check to stay on your horse and if the creature attacks the horse if you make a succesful ride check agiainst a DC the attack will actually miss. So you guys can easily ride the horses to the town and anywhere you want really. I would suggest getting off the horse as quickly as possible when combat begins though.