The committee heard 61% of people in Scotland want to cycle to improve their health, but many were afraid of road dangers on 24 November 2009.
The research was carried out for the Scottish government by transport consultancy Steer Davies Gleave.
The company's Peter Zanzottera said a better cycling infrastructure and more funding was needed to promote cycling as a means of transport, as well as a sport.
The comments were echoed by representatives Spokes, the Cycle Touring Club, Cycling Scotland and from Scottish Cycling, in further evidence.
Scottish ministers want a 10% increase in cycling by 2020.
MSPs then considered a petition by Helena Coxshall, highlighting the cost of fuel in the Western Isles and other rural areas.
The committee pointed out fuel tax was a reserved to Westminster, but decided to seek further information from Scottish government on fuel supply and the competition of suppliers in rural areas.