The crest description actually doesn't say a lot of what is actually does.
First of all, switching from one stance to another can be done using any damaging move (switch to Attack Stance) or using any non-damaging move (switch to Defense Stance), and this is not restricted to Attack and Defense Order only.
The crest also add an Infestation effect to the Attack Order move.
It also provides a leftover effect to its holder (might actually only works in Defense Stance, I'm not sure about that...)
By the way, Vespiqueen, unlike Aegislash, enters the battle in Attack Stance (there's no notification of it on the screen though).