One of the most basic exercises for me is walking barefoot. It’s something we humans have done for millions of years and only in the nearest past of ‘western civilized life’ have almost stopped doing. You don´t have to go to any great effort to do it. All I would recommend you do is get outside, somewhere natural, take your shoes and socks off and begin to walk!
Instead of tuning in to nature and enjoying the vast benefits of being one with nature we’ve built an aritficial environment on the world and have long conditioned ourselves to think we have to protect ourselves from nature. In this civilised world we also need to protect our feet from contact with the ground.