A bipod for a firearm is provided that improves efficiency and ease of reconfiguration of the bipod while providing stable support for the firearm. In various embodiments, a bipod for a firearm might comprise a main body that can mount to the firearm, two legs, two plates, a first actuator mounted to each leg, and a second actuator mounted to each of two side mounts. Each leg might comprise a head portion and a main leg which extends from the head portion. Each plate might rotatably couple each leg to one of the side mounts. The first actuator, when actuated, releases a leg to rotate relative to its plate by a first angle. The second actuator, when actuated, releases the plate to rotate with respect to the main body by a second angle, independent of any rotation of the corresponding leg relative to the plate effected by the first actuator.