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 $C^1$-smooth slim limit set in $G\mathrm{/}P$ for any non-maximal parabolic subgroup $P$.