Here are some questions write down the answers.
1) Y o u r f r i e n d: Can I ride your bike, please?
2) Y o u r n e i g h b o u r: May we join you for dinner?
3)Y o u r s i s t e r: May I play in your room?
4) Y o u r b r o t h e r: May I go to the picture gallery with you?

Yes,you can/no,you can't Yes,you may/no,you may notYes,you may/no,you may notYes,you may/no,you may not