The earliest clear evidence for walking upright is found in Ardipithecus ramidus.

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Ardipithecus ramidus is a hominid species that lived approximately 4.4 million years ago and is considered to be one of the earliest known bipedal (walking on two legs) primates. Its fossils show adaptations for both tree climbing and bipedal walking, but it is believed to have spent more time on the ground than its tree-dwelling predecessors. Therefore, it represents a significant step in the evolution of human-like bipedalism.

The Earliest Clear Evidence for Walking Upright Is Found in Ardipithecus