According to Gohan when he was teaching chi to Videl, he stated that everybody has chi, it is just more or less difficult to tap into it. after a few days of training, Gohan eventually teaches Videl how to fly by using her chi.
Controlling your chi requires a lot of concentration, so some characters, such as Piccolo are shown meditating sometimes to train their chi. When Gohan was teaching videl, they were meditating before trying to fly.
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