The forerunner of the modern bicycle was invented by the German Baron Karl von Drais, which was introduced in Manheim, Germany in 1817 and in Paris in 1818.

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"Multiple innovators contributed to the history of the bicycle by developing precursor human-powered vehicles. The documented ancestors of today's modern bicycle were known as draisines, hobby horses, or push bikes (and modern bicycles are sometimes still called push bikes outside of North America). Being the first human means of transport to make use of the two-wheeler principle, the draisine (or Laufmaschine, "running machine"), invented by the German Baron Karl von Drais, is regarded as the forerunner of the modern bicycle. It was introduced by Drais to the public in Mannheim in summer 1817 and in Paris in 1818. Its rider sat astride a wooden frame supported by two in-line wheels and pushed the vehicle along with his/her feet while steering the front wheel."

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According to http://www.enchantedlearning.com/inventors/page/b/bicycle.shtml the bicycle was invented in 1790 in France by Comte Mede de Sivrac, though that was more of a pre-bike. Improvements were added elsewhere (e.g. in Germany) in the early 19th century, but the modern bicycle concept, with pedals and cranks was developed in France in the 1860's:

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Some history books will state that Pierre and Ernest Michaux, the French father and son team of carriage-makers, invented the first bicycle during the 1860s. Historians now disagree and there is evidence that the bicycle is older than that. However, historians do agree that Ernest Michaux did invent the modern bicycle pedal and cranks in 1861.
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(from http://inventors.about.com/library/inventors/blbicycle.htm ).