Definitely gonna pin the load-bearing leg, all the way up to the torso. The idea is for only one leg on the ground, extended as straight as possible, and angled towards the back as it is pushing the 'mech forward. Another leg will be curled up as high as parts allow, and angled slightly forward, as it is the last leg to take a step and is swinging forward for its next one. The third leg will also be as straight as possible, reaching as far forward as it can, as it is the next leg to hit the ground. Fun part is, none of these legs need to be in any particular order, I can literally randomly choose which leg is going to be in which pose, and any arrangement will work just fine.
My only sadness is that the Ares's arms are so short/forward torso is so long, otherwise I'd have the hand arm reaching as far forward as it can, as if the Ares was about to try and grab another 'mech's face. >:D