Humans do for a start.
Creatures that walks on two legs are called bipeds.
A biped.
The only non-human primates without a tail are the great apes and regular apes such as gibbons . Of them the only one that walks upright all of the time is a Human. So the answer to your question is a Human. The other great apes can walk upright, but they do so only for short periods of time when needed.
there's nothing special about this. gorillas sometimes walk upright. it's only a web hype.
Congress?
Jonas walks confidently and purposefully towards the chief elder, his posture upright and his movements deliberate.
those that believe bigfoot exists believe it is a kind of large ape that walks upright with thick brown or black fur.
It is a type of fish that walks upright with fins,eats small organisms and gives birth to young alive.
Any four legged animal is a quadruped. Man is a biped or bipedal, because he walks upright on just two legs.
Meaning of upright image
the first subhuman to walk upright was Homoerectus (Upright Man).
Homo erectus is an extinct species of human that lived approximately 1.9 million to 140,000 years ago. The name "Homo erectus" means "upright man" in Latin, referring to their characteristic upright posture.