I'd bike. You get there faster, its fun, and its easy on the knees. They say walking is low impact, but biking is no impact, unless you crash
I'd imagine if you push yourself on the bike instead of leasurely pedaling to your destination you will get a much better workout than walking or jogging. You can keep pushing as hard as you can stand on a bike, since they have lots of gears so you never wind out. Legs have one gear, once you reach top speed pushing harder isn't going to do anything but wear you out faster.