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It can't stand erect, per se, but it has been seen resting on it's feet. Look at this screenshot, taken from Serebii, as well as this video of Yveltal in Pokémon-Amie. At 0:08 it can clearly be seen with its feet on the ground. It does not appear to have very study legs, however, as it is always supported by its wings.

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It appears to stand in the same manner as a Pterosaur is usually depicted.  Majority of it's weight is on it's wings, rather than it's legs.