First, bare feet are better able to find best stable, balanced contact with the floor or the ground, thus improving balance.
Secondly, doing yoga barefoot provides an ideal opportunity for the muscles of the feet to be stretched, flexed, and strengthened.
Thirdly, there are vital marma points (called acupressure points in other traditions) in the feet which are stimulated and energized when barefoot promoting healthier heart, lungs, eyes and joints.
Fourthly, barefoot yoga gives the feet a generous and welcome relief from being trapped inside shoes (usually worn all day) which cause a sensory deprivation effect in the feet making them more prone to aches and injuries.
Finally, doing yoga barefoot creates a grounding experience because the feet come in contact with the “ground” (outside and the floor inside). Research indicates that 30 minutes of grounding barefoot can heal pain, reduce inflammation and improve quality of sleep.