Better do that, to release the air she swallowed while feeding. Though it may not be as much compared to bottle fed baby. But some babies may wake up easily if change position, so can also wait till she wakes up later (that's what i do to mine). For your reference,you can read here: http://www.parents.com/baby/care/burping/baby-burping-what-to-know/
Ya, I think you should do that, so that she burps and takes out the air she has taken in while drinking the milk. Once, she has burped, she won't take out the milk and would remain comfortable, else she would be uneasy till the time she hasn't taken out that air. http://www.nhs.uk/conditions/pregnancy-and-baby/pages/bottle-feeding-advice.aspx
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Most of my friends mentioned that unless your baby has reflux, there is no real need to keep baby in an upright position after feeding. If you prefer to do that, 10-15 mins should suffice I think.