I also find walking or barefoot you feel so connected to the ground, to the earth, to all thats around you. It's really quite wonderful, and I personally try and do it as much as possible. This of course usually requires getting out of the city, which I am more than happy to do!
'Earthing' this article here
More than that, apparently in the long run walking and running barefoot is supposed to be great for your back. Obviously a lot of the time it is utterly impractical, but when it is possible, my feet are naked and toes winking in the sun in a heartbeat! My family also have a history of back problems, so I am particularly curious when I hear things like this. I have recently bought some memory foam mattress toppers for our beds at home from here
. They actually make all the difference. I also got some for the Old Grump (my father) and he reckons he is sleping better too. But I can never be sure if he means it or not.