The only place that I was ever *required* to go barefoot was at a church event. My parents made me go to a summer program that ended with a program where we all dressed up like Bible characters. I was assigned to be John the Baptist, who they thought would most likely not wear shoes. The other kids laughed at me because my feet were so white. My parents made me wear shoes all the time back then, no sandals allowed because it wasn't "manly".
I always feel that people, when they look down at my bare feet in public, must think I'm kinda nuts. Then I remember two things have have served me well: 1) Who gives a shit 2) I kind of am
When you are barefoot in public and someone gives you a dirty look, 80% chance he/she has footshyness and will never be barefoot outside the bedroom or bathroom. Keep this in mind and you will enjoy being barefoot even more!