Bi-Lipschitz rigidity of discrete subgroups

We obtain a bi-Lipschitz rigidity theorem for a Zariski dense discrete subgroup of a connected simple real algebraic group. As an application, we show that any Zariski dense discrete subgroup of a higher rank semisimple algebraic group G cannot have a C¹-smooth antipodal limit set in $G/P$ for any non-maximal parabolic subgroup P.