You can use 'x to y' with nouns (including gerunds and verbal nouns). For example: "I prefer snowboarding to skiing'. If you use verbs, you need the infinitive with 'than'. For example: "I prefer to snowboard than (to) ski'. Note that the 'to', as in 'to ski', is not indicating a comparison: it is part of the infinitive 'to ski'. That 'to' is optional, but the first one is not. I hope that helps.

I would say: "I prefer riding a bicycle to driving a car." If you want to use an infinitive, I'd say: "I'd prefer to ride a bicycle rather than drive a car."