This chapter explores the crucial role of bipedalism and encephalization in human evolution, focusing on the profound anatomical and functional transformations affecting the stomatognathic system. Through a comparative analysis between non-human primates and Homo sapiens, the text highlights how upright posture and bipedal locomotion required a reorganization of the spinal column, pelvis, and masticatory apparatus. The verticalization of the spine and cranio-pelvic alignment demanded significant adaptations in cervical musculature and vertebral morphology, with important consequences for cranial biomechanics and balance. In parallel, encephalization led to an expansion of the neurocranium and a retraction of the splanchnocranium, resulting in a reshaping of the dental arches and mandible. The chapter also examines the impact of these changes on occlusal dynamics and overall body posture. Special attention is given to the integration between the central nervous system, the musculoskeletal structure, and masticatory function, outlining a complex evolutionary framework in which bipedalism and encephalization mutually influence each other in a decisive manner.