There are at least twelve distinct hypotheses as to how and why bipedalism evolved in humans, and also some debate as to when. Bipedalism evolved well before the large human brain or the development of stone tools. Bipedal specializations are found in Australopithecus fossils from 4.2 to 3.9 million years ago, although Sahelanthropus may have walked on two legs as early as seven million years ago
Source : Wikipedia
The main theories include :
All of which can be researched using the Wikipedia link above.
Many of the theories are not mutually exclusive, so the possibility exists that several evolutionary factors could have been working at the same time. Whatever the main factors were, fossil evidence shows that hominins became increasingly bipedal over time - indicating strong evolutionary advantages.
Also see :
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