I find that my pedal slips if I wear shoes. I much prefer being barefoot. Even in the winter. I have REALLY tough feet... I end up occasionally having to sleep in special socks that help heal my cracked heels that develop from spending so much time barefoot. Even in my classroom at school, I take off my shoes the minute my students leave my classroom during my planning period. I wear clogs in the winter so I can slip off my shoes the minute I get inside the house.
My dh is the ONLY one who is allowed to wear shoes in the house. My kids are just like me... barefoot all the time. My dh doesn't go barefoot more than a few minutes a day, unless he is sleeping at night.