Maybe this varies from one shooter to the next, but...I've found if you zero from a rest, your point-of-impact will be different, often significantly, than if you zero from the position you normally shoot from.
I shoot from a rest, and at 25 yards, only to see how well a particular load groups on paper. I zero using the Bullseye stance (one hand) at the same distance. For me, this consistently brings the point-of-impact down a few inches if I shoot Weaver-style using two hands. 95% or more of my shooting is Bullseye style and I'm always conscious that the groups will be lower if I use two hands.
Before you do any sight zeroing offhand, make sure your shooting skill is up to it, otherwise you're only wasting ammo. A 25 yard zero using a six o'clock hold will generally put your point-of-impact where it needs to be at shorter distances as well, but be mindful of possible exceptions. Good luck-