You can probably parent the hands to the handlebars without any problem. In theory you should be able to parent each foot to a pedal. But it sounds like the pedals are not "counter-rotating" properly. In other words, they are just turning rigidly with the crank. The best solution to this problem would be an ERC "master-slave" within the bicycle, so that the pedals would always move negatively to the crank. If you can't do that, you should manually force the pedals to go opposite the crank so that they will remain in the same position with respect to the universe. At the frame where the crank is at 0 degrees, see where the pedals are; then go to the frame where the crank is at 180 degrees and turn the pedals backward so they are still the same. Then move forward until the crank is 360, and continue turning the pedals so that they are back to original position. (This approach is probably better than trying to figure the degrees on paper, because the two pedals may have opposite values.)

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