Hi
First of all You won't hurn him of course if you're barefoot

You can start it drom laying on the bed, your boyfriend/husband is sitting. Put just one or two feet on his pants, tell him, that you would like to have a massage. Then by one feet come closer to his croth gently and slowly (as you would massage him but with foot)

You can press his cock a little through his pants and gently move forward and backward. Be serious and brave at that point. Do not show your incertitude or concern it can spoil the situation

Of course there is a point when you or he must unzip his fly. Then you can but don't have to use a lubricante on your feet. Can be a creme for softening skin too. Then grab his cock between your toes, press it a little bit, move up and down and don't be afraid if he throw his lotion on your toes and around
Of course next time you can add some erotic movements of your feet on him... as like as gently moving on his stomach, chest to face etc. You can order him to lick your foot etc. It just need some imagination, but If you don't like it, we can't change anything here...
By the way... If he wants shoe job it needs some more practice than normal footjob, but you can keep it up!

Don't be frightened and everything will be ok. You can of course ask him to show you how he would like to have it done.
I am quite new to this forum and I don't know how to put photos yes, cause I would show you how to do it properly (probably my way)

But well... many man would like it!
Hope I have helped!
