After my dog has been lying down, she tends to yelp and cry when she gets up. Once she's up she doesn't walk with a limp or exhibit any pain. If you touch her legs she shows no pain. Any ideas?

Sounds like possible arthritis or hip dysplasia

What breed of dog? Some large breeds have hip displacia problems. Arthuritus is common with older dogs, and my 8yo lab was just put down for having a large tumor on his heart.

My dog is only 5 years old. She is a Belgian Malinois mixed with a German Shephard. It was an accidental litter. The dad was a search and rescue dog and the mom was a drug dog. I can't imagine they would have hip problems. I suppose it's possible though.

All large breed dogs are prone to this.

Well, whatever the guesswork so far, your dog is having pain, and if it has gone more than a few days, she needs to see a vet. It could be a number of different things.

How reliable is the information on the parents? Most quality search and rescue and drug programs spay/neuter their dogs.

That is a good point. I don't know the search and rescue group the father was part of. I got the dog off a farm in PA. The owner showed me a newspaper article about the father. That's all I really know.