i went a few years without wearing shoes, (its a habit iv since picked up though, winters in the north east have trained me to wear em) barefooting is the way to go. i felt more connected with the earth, and unconciously learned how to walk in a more balanced and centered way.
i went barefoot once, and it for a walk up my street..I was half way gone and i said forget this i need some shoes and socks.....I found it impossible to do anything barefoot, unless iam walking around my house that is.....
