You can enable both authentication methods and have the users pick one. You cannot configure a fall back natively.
Starting Windows Server AD FS 2016 and the alternate host name binding for certificate authentication you could create some sort of JavaScript which redirect the user to the form. But that would be highly custom and the effectiveness would depend of the type of browser and other racing circumstances which are hard to anticipate (like what if the user is picking a cert but the wrong one etc...).