Yeah, some of these plants branch at the base just like that, and some of them will tend to go a little sideways over time. I think what you're seeing is more or less normal. When in doubt, if this is an indoor plant, the more light the better. That will tend to help the plant grow more compact and sturdy. But from the looks of things, I'd say your succulent is getting decent light.
Maybe a slightly bigger pot sometime this season? Or drive a stake in there if you want to reinforce an upright habit. It looks pretty happy to me.