This paper presents a preliminary study of the use of Virtual Reality for the simulation of a particular driving task: the control recovery of a semi-autonomous vehicle by a driver engaged in an attention-demanding secondary activity. In this paper the authors describe a fully immersive simulator for semi-autonomous vehicles and present the pilot study that has been conducted for determining the most appropriate interface to interact with the simulator. The interaction with the simulator is not only limited to the actual car control; it also concerns the execution of a secondary activity which aims to put the driver out of the loop by distracting him/her from the main driving task. This study evaluates the role of a realistic interface and a 6-DoF controller-based interaction on objective and subjective measures. Preliminary results suggest that subjective indicators related to comfort, ease of use and adaptation show a significant difference in favor of realistic interfaces. However, task achievement performances do not provide decisive parameters for determining the most adequate interaction modality.