It takes a while to get used to it, if you're not used to walking barefoot. Basically, I notice that I touch down with more of the outside of my foot when barefoot...like your heel still touches first but you just kind of roll over it lightly and the most pressure is on the middle part of your foot. Then you use your arch muscles to push off and stride forward (along with using your gluteus muscles more too). I'm sure somebody else can explain this better LOL! The best description of proper walking is in "8 steps to a pain free back" by Esther Gokhale--she calls it "glidewalking"