Devices, and methods of extending legs from vertical fore grip handles on firearms, such as rifles, to different height positions. The vertical fore grip can include expandable bipod legs. The legs can be individually extended to different lengths by moving telescoping rod members in leg housings from retracted positions to extended positions. A lever switch can allow for the legs to be locked into the different extended positions, and depressing the switch can allow for the legs to go back to the retracted positions. Anti-rotation pins and slots can prevent the telescoping members from rotating relative to the legs.