When a baby is first born, he/she crawls using both legs and hands/arms for a period of time before learning how to stand and walk on his/her back hind legs.

Thinking in terms of evolution, might it be possible that man was first a quadraped and then over time morphed into a biped? Any ideas on how long ago this may have happened?

Since we have a common ancestor with apes that would make sense.

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At least 4 million years ago based on the age of "lucy".

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..I also have a 427 Cobra replica with an aluminum chassis.

Look up, “ontogeny recapitulates phylogeny” for an exhaustive discussion of the OP’s observation.

what I think is neat,is DNA has encoded memories from parent passed on to off spring.
Like they know to move north up her belly for milk.Or how primates know snakes are bad.

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That would be neat if it were true.

Somethings can be passed like disease resistance. This called epigenetics, a lively topic of current research.

Most things operate under natural selection requiring change in the genotype. These things usually take many generations of selection and isolation from the general population.

Recent research shows that some of the learned things can be passed on to the next generation.

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[SIGPIC] Diesel loving autocrossing grandpa Architect. 08 Dodge 3/4 ton with Cummins & six speed; I have had about 35 benzes. I have a 39 Studebaker Coupe Express pickup in which I have had installed a 617 turbo and a five speed manual.[SIGPIC]

..I also have a 427 Cobra replica with an aluminum chassis.

I think you’ll find the results are not as clear as we are led to believe. It’s the old correlation-causation problem.

In science, nothing is....well in life too.

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[SIGPIC] Diesel loving autocrossing grandpa Architect. 08 Dodge 3/4 ton with Cummins & six speed; I have had about 35 benzes. I have a 39 Studebaker Coupe Express pickup in which I have had installed a 617 turbo and a five speed manual.[SIGPIC]

..I also have a 427 Cobra replica with an aluminum chassis.

PBS Nature series had one where a dude lived with turkeys until they matured. Instincts told them to eat grasshoppers, avoid snakes, etc. After seeing that series, I thought about what parents pass on with out actually telling them. Would a great mechanical mind that moves to an apartment in a high rise pass those talents on to an offspring, but never see them put to use? Or a real intellect moving to a rural setting never see what was passed on to them.

Some of this is being re-theorized over the past few years. Even Lucy's evolutionary time line is being questioned. Main, that recent finds in the same time frame are more advanced.
Also, what is innate and what is learned. There is a PBS special 'The People Who Walk Like Bears'. Basically, a family of mentally challenged who bear crawl in adult life. They never learned to walk upright. There was a intervention with parallel bars, to teach them to walk upright. One of them, did not participate in the training. He was shown walking at the end of the show.
There was a crane in Florida that would put a piece of bread to attract fish, then catch them. So, not learned from previous behavior.