I had a lot of heel and foot pain when I started walking regularly. What I really wanted to do was walk barefoot to connect with the land, and this was over a year ago before I had even considered re-discovering magic. I had read the book Born to Run by Christopher McDougall about ultra-runners and the Tarahumara tribe in Mexico.
Long story short, I compromised by getting some Vibram 5 finger shoes on sale from the official website. Avoid the knock offs sold from unofficial websites! It's a kind of shoe meant to provide a lot of ground feel and no support, but you are protected from most of the typical hazards of the environment like broken glass, pea gravel, and assorted garbage (sadly humans are pigs...). My feet got used to walking and running (fore to mid foot strike) in these shoes over a period of several months.
The typical consumer of footwear wants to walk on clouds, but cushioned shoes just transfer the inevitable impacts from the feet, weakening them in the process, up to the knees, hips, and back. By experiencing the pain temporarily in the feet, one is forced to go slowly as the body adapts, whereas the impatient will go too fast, too soon, and experience core injuries on a repeated basis. Oh, and running heel impacts are the worst thing for your body to experience thousands of times in a day, hundreds of thousands of times a year.
I found that emu oil is quite good for healing the feet and lower legs when I get sore. I got a 16 oz dispenser bottle off Ebay for about US$30. It absorbs quickly, and the pain goes away within a couple of hours. This is not the pain of severe injury, however, which would require taking a few days of rest.