My engineer boots do it for me. They have a nice heel so my foot is completely on the floor. The only problem is I don't want to have to wear heavy boots all the time. I think I will try to find some shoes that are comfortable with a good heel on them. And then I will try to find a booster for my wife to rest her feet on. If I could talk to Thor, I would ask them to consider making both seats adjustable. More comfort equals more safety at the end of the day.