Read something about Feral children, how they're body altered when raised by the specific animal class.
That makes sense and it's real: distinctive forms of evolution/adaption within mankind itself.
Since the moment when the human being becomes aware, even with a very low level of development and cognition, the human being inevitably and unconsciously starts absorbing knowledge and adapting to its surroundings - that's why most babies cry so much when they're born, because they got used to the cozy and comfortable environment inside the womb. After that, they keep on learning mostly by mimicking those who are closer to them.
Putting it simple, you are absolutely correct, and there are a few reported cases of this "phenomenon": if a human is born in an ordinary family (of bipeds), the human will start crawling, but it will eventually learn to get on his 2 feet because that's what the parents or tutors do; while on the opposite, if a human is born, lost, or moved into a collective/family of primates (quadrupeds) like gorillas, the human will mimic them and will, most likely, move as a quadruped until he/she is taught otherwise or during the entire lifetime.
If the 'condition', per say, persists for a high amount of years, it will exceed the behavioral and cognitive limits - what started on the human being's mind, will eventually become consistent with the body - the spine might become deformed, some muscles as well, etc..
Here's an interesting documentary -
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