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"I get in the car/taxi/truck. I get out of the car/etc."
"Come on, kids! Get in the car, now!"
"We're home! We can finally get out of the car!
Use "get in" with a small space where a person can't stand up.
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"I get on the bus/plane/train/bike/motorcycle. I get off of the bus/plane/etc."
"Do you want to ride with me on my motorcycle? Get on!"
"The train is here. Let's get on!"
Use "get on" with an open-air space or a space large enough for a person to stand up in.