To sit for a spell before gently removing one of her shoes... that is all a man needs to feel a connection.
Reminds me of that scene from Pulp Fiction which I thought was funny the first time that I saw it, but now it makes perfect sense:
I'm siding with Vega on this. While it may be socially acceptable to give just about anyone a foot massage, one would soon find himself to be the public enemy number one for daring to fondle with the breasts of another man's wife. The point is that to us it is the same thing - tickle the toes of my soul's better half, and I will set the fires of retribution ablaze.
So you have your bras, and we have our slippers.
Go ahead and debate whether an exposed nipple is a public display of indecency and all that - we have an alternative. Go ahead and walk around with nary a shoe or sock around your ankle; it is legal all year round, it is our thing, and I'll be damned if anyone can take that away.