In some rare circumstances, footwear is needed. Barefoot is the best, but some shoe companies have made options that are close to going without footwear. These are a few of the current options available on the market with adult and child 
sizes. I use them in cold Iowa winters and in situations that absolutely don’t allow bare feet, such as school. However, any shoe is better left at home, off the foot.
For transitioning from wearing regular shoes to going barefoot, these minimalist options are also useful.
