Sahih Muslim Book 26, Hadith 17
This hadith has been narrated on the authority of 'Uqba b. Amir Juhani. but in this no mention has been made of" barefoot".
My sister took a vow that she would walk bare foot to the house of Allah (Ka'ba). She asked me to inquire from Allah's Messenger (ﷺ) about it. I sought his decision and he said: She should walk on foot and ride also.
The expiation of the (breach of) a vow is the same as that of the (breach of an oath).