I think the general consensus on transitioning to barefoot is this: transition slowly. Your feet are going to really hurt if you jump into it 100%. Spend some time barefoot around the house but put those slippers on before your feet start hurting. Slowly extend the amount of time that you spend barefoot. Walk barefoot in the grass for a few minutes every day, and slowly extend that from 5 minutes to 10 minutes, to 15 to 20, etc. Then transition to harder surfaces for short amounts of time and build up.
I don't really have a program set up for going barefoot, but the idea is to start small and work your way up. You have to strengthen the muscles in your feet. If you wanted to lift a dumbbell and had never done it, you wouldn't start with a 75 lb weight, you'd probably start with 10 lb or so. Same with your feet: start small, build up. Your feet might feel sort of tired at the end of the day, but they shouldn't feel painful.
Hope this helps.
Type 1 Diabetic. Controlling blood sugar through primal life.
Maintain A1c of 6.0 or lower
More dietary fat, less carbs, moderate protein
LHT and sprint as per PB fitness