The ultimate goal of healthy feet is to be able to walk barefoot every day all day long with no pain or discomfort. However, that is not reality for most people. If you have been wearing shoes every day for years and transition immediately to being barefoot, you will experience many negative side effects of this transition. Moving to being primarily barefoot requires you to train your feet, just as you would train your body for running a marathon.
Walking barefoot in your yard is one way that you can start to train your body to be barefoot. Start slowly if you are new to being barefoot. As your feet start to adapt, start to be barefoot more and more.
This will also help you in transitioning into minimalist shoes as well.