Shoot it of the mag. The Swiss play a simple low stress game that is but a fraction of shooting service rifle.
If you zero off the bipod, your POA will not be the POI standing, kneeling or sitting. Lots of shooters have taken the easy road and tried to believe the bipod. They then pay for it points wise.
Lots of people can't group well enough to get a solid zero, they then look for a mechanical aid to get the rifle "zeroed" which is ignoring the fact that the rifle will only shoot as well as the shooter using it can shoot the rifle in any given position.