In this paper I am dealing with the evolution of bipedalism, the anatomical changes which preceded the development of bipedalism and the fossils that proof bipedalism in australopithecines. There is a series of theories which try to explain why and when the development of bipedalism started, then still we can not know which of the theories are correct. Most likely the evolution of bipedalism is the result of a combination of more of these theories. To come to the evolution of bipedalism first it had to come to a series of anatomical changes in the locomotory system of our ancestors. So it came to the movement of foramen magnum to the base of the cranium, to changes in the shape of the spine to the shape of the double letter S as well as the movement of the center of gravity, also it came to changes in the structure of the hip and limbs, primarily the feet. Although bipedalism occurs much earlier than the appearance of australopithecines (with the appearance of Sahelanthropus tchadensis), they are considered to be the first real bipedal hominins. Their bipedalism is different from the bipedalism we know today, but still it gives us a lot of information of upright gait, as well as a variety of anatomical adaptations that had to happen that have an upright gait, advantages and disadvantages that we got by the transition to bipedalizam. Conclusions about the development of bipedalism and fully understanding its development will help us greatly to clarify how it came to the evolution of modern man and to facilitate our understanding of our past.