Flat across the upper back, don't pinch the shoulder blades together.
Chest on the ground.
Forearms flat on the ground.
rifle parallel to your spine.
spine pointed at target and straight (no bending)
legs wide, feet pointed outboard, ankles on the ground.
don't squeeze the pistol grip, rest your hand against it.
load the bipod JUST A LITTLE, only enough to keep the butt stock on your shoulder (unless recoil mitigation is an issue)
the "pocket" is not the shoulder joint, come inboard 1 hand width from your shoulder joint.
keep the bipod as low as you can get it
keep the rifle as low as you can get it
bipods go on the ground, not on a shooting mat or pad (I don't like bipods on concrete, put them on the dirt if you can)
toe bag goes under the toe of the butt stock, squeeze the bag with your off-hand to fine tune aim, DO NOT MUSCLE THE GUN.
If you can do all of that, you're way ahead of the game.