The earliest known bipedal vertebrate, eudibamus cursoris was a small parareptile. The sole specimen that has been found (in Thuringia, Germany) measured about 25 cm long – about the size of a house cat. Reconstructions of it give it an appearance resembling a cross between a tiny velociraptor and a modern iguana.
The sole specimen of it known to science was discovered in 2000 by a paleontological team including David S. Berman, Robert R. Reisz, Diane Scott, Amy C. Henrici, Stuart S. Sumida and Thomas Martens. The species is believed to have existed for a span of about five million years or so.
As mentioned in:
The Big Bang Theory — Barenaked Ladies