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Would you simply say 'lo vi en bicicleta' rather than trying to translate, he cycled past me?
Ah right, I thought you’d meant cycle past like in traffic.
Probably varies by region, but I’d say pasar. E.g., Lo ví pasar (en bicicleta), I saw him/it pass by (on a bike). Pasó en bicicleta frente a mi trabajo, he/it cycled past my workplace.
You can also use ‘pasar’ for ‘pass/stop by’: pasé por un café antes del trabajo.
Not sure why I specified ‘he/it’, as it’s probably a ‘he’ if he/it is riding a bike. Although I suppose bears can ride bikes too.
Voy en bici al trabajo. De hecho, me muevo en bicicleta a todos lados (in fact, I cycle everywhere).
(3rd person) Me rebasó (surpassed me).
(1st person = yo) lo/la rebasé.
Me rebasó en bicicleta, if you want to specify they were on a bike.