i usually sleep on my back while im doing the re-entry into the dream and I put my hands crossed on my chest.
As for the visualization i walk around touching specific objects. For example ill rub my hands against the BBQ machine then walk over to my door and rub my hands on it it then walk over to a tree and rub my hands against it etc. until i enter a dream.
Personally I think that riding a bike, driving a car or doing anything extreme like that will make it very difficult to enter a dream. walking is your safest bet.

heres a typical backyard. The Tree, the windmill, the chairs are objects that you can touch.
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