I almost always drive barefoot I'm always surprised by how few men have ever tried this. I find it much more comfortable, and when I'm going fast, the lack of shoes makes heel-and-toe technique a lot more controllable for me (I actually use the main weight of my foot for the brake and splay my little toe out to do the accelerator work). You can alternate foot positions so much more flexibly over long drives, using different parts of the foot to maintain the accelerator if you don't have cruise control, etc., and, best of all, you don't have to worry about your choice of shoes!

And no, it is not illegal, at least anywhere that I know of! See here for letters from 50 US states confirming legality: http://web.archive.org/web/200306181..._barefoot.html