Assuming by jogging you mean a fairly low intensity steady run then you need to aim to achieve the same 'perceived effort' when cycling for 24 minutes as you do when running. Without knowing the details of the terrain (smooth, rough, flat, hilly) and the bike (narrow well pumped up tires with no suspension vs. fat knobbly tyres with full suspension) and without knowing how far you can currently cycle at any given level of effort no-one will be able to give you a number of km...
However, if you want to make sure its roughly the same, then focus on listening to how hard you are breathing - make sure its the same for both activities.
If you want to get more sports-scientific about it then you could get yourself a heart rate monitor and determine, as best you can, you lactate tolerance heartrate and therefore your zones (google for Hunter-Coggan Zones) and then you can more or less say that you're doing the same amount of 'work' if your heartrate zone is the same.
Of course this all presupposes that by benefit you mean cardiovascular fitness; if you're looking for weight loss, strength, agility etc. then you may need entirely different measures
