Modifying the example here:
You can use legend_out = False
import seaborn as sns
sns.set(style="whitegrid")
titanic = sns.load_dataset("titanic")
g = sns.factorplot("class", "survived", "sex",
data=titanic, kind="bar",
size=6, palette="muted",
legend_out=False)
g.despine(left=True)
g.set_ylabels("survival probability")