This is a great video (only 10 minutes long) that explains the principals of barefooting- it also gives simple exercises you can do to help you barefoot!
How to Barefoot
I have been barefooting three months now and the best thing about it is how much fun it is. I start most days with a three mile run and it puts a big smile on my face. I am still a novice so I will definitely be doing the drills shown here.