A bipod has a first frame portion, the first frame portion having a mounting facility adapted to connect to a firearm, a second frame portion connected to the first frame portion, at least a first leg connected to the second frame portion, the first frame portion and second frame portion being connected by way of a ball and socket joint, and the legs being movable with respect to the second frame portion between a stowed position in which they are adjacent the firearm and a deployed position in which they extend away from the firearm. The ball and socket joint may include at least one of the first and second frame portions having a ball element having a convex spherical surface portion, and the other of the first and second frame portions having a concave surface portion closely receiving the convex spherical surface portion to limit relative translational motion.