Hi. Learn to shoot your FAL without the bipod. It's a PBI battle rifle. PBI battle rifles don't get used with bipods. Bipods are slow to 'deploy' too. You really will find shooting it more enjoyable if you don't use the bipod. No resting the mag in the dirt either.
If you find you get single shots only, look at the gas plug. It may be set on 'grenade launch'. It's a fabulous rifle, but it has some quirks. Mind you, most battle rifles do and it doesn't have whatever it is that an M1 rifle has.
http://www.surplusrifle.com/fal/index.asp
Read "Mr. Nielsen and the FN C1 Rifle'. Finn's a good guy. He's a real "CSI" firearms type too.
I spent 6 years in the Queen's Service when we used FN C1A1's, long ago. Never saw any need for a bipod on the rifle. I did find the rifle a bit long for me with most 'normal' butt stocks. The 'short' was too short. Instead of using the forestock, used the front of the mag. Eventually, found a 'normal', on my MIU, that fit me perfectly though. Still used the mag instead of the forestock. Took second in a match. The guy who took first was a DCRA long range shooter. Both of us 'civilian instructors' at the time. Did officer courses with him later. He could shoot, but his fieldcraft was lacking. Good guy though.
The only bipod equiped firearm the CF let me play with was the C2 LMG. Same firearm, but with a much heavier barrel, larger mag capacity(it would use regular 20 round mags too though) and select fire. It could be fired without the bipod, but it was an LMG.