1. Always step straight down. Never allow your feet to shuffle or drag along the ground. This greatly reduces the risk of incurring cuts or abrasions on your feet.
2. Place your weight on the ball and arch of your foot. The ball and arch of the foot distribute your weight effectively, conform to various shapes and contours and act as a shock absorber.
3. Watch the path ahead of you. Continually look ahead two or three paces to plot the safest (and most enjoyable!) course immediately in front of you.
4. Be cautious when you cannot see the ground itself. Ground cover like grass, leaves or snow can hide objects from your view. Step lightly and carefully; be prepared to retract a step if necessary.
These tips were adapted from The Barefoot Hiker by Richard Frazine.