In plain words
We speak of the installing of the Pādukās. This installing of the Pādukās is not something that has come up new today. It is what the ṛṣis practised, experienced and handed on to the world! Taking refuge at the feet, the ṛṣis went on attaining the fulfilment of tapas. Not only this: in the Dakṣiṇāmūrti tattva He went on teaching, above all, the worship of the Pādukās, the worship of the guru. Śaṅkarācārya too took up a dīkṣā for the installing of the Pādukās.
O Īśa, Lord of the mountain, Lord of men, Supreme Lord, Lord of the gods, all-pervading One; Sāmba, Sadāśiva, Śambhu, Śaṅkara: my refuge is Your pair of feet.
Your feet alone are the way that blesses me. Your feet are in my heart itself, not on Kailāsa. They are not in Vaikuṇṭha, nor in heaven. Heaven, Kailāsa, Vaikuṇṭha are merely names, nothing more! Your heart itself is heaven; your heart itself is Kailāsa. Your heart itself is Vaikuṇṭha. Everything is in the heart itself. The whole world lies contained in our heart itself.
We must enter the path of karma, fill the heart on the path of Bhakti and attain Kaivalya on the path of Jñāna
When Rāma said He would not come back to Ayodhyā, Bharata pressed Him hard. But Rāma held firm that He would not come. Rāma and Bharata were brothers, after all! As firm as Rāma's resolve was, so firm was Bharata's. Vasiṣṭha, who understood the two of them well: ‘Bharata! Rāma has taken His father's command on His head and is living in the forest. It is not good to hurt Him. Let us install His very Pādukās in Ayodhyā. Those Pādukās themselves will rule the kingdom’: and so, devising a fine plan, he had Bharata carry the Pādukās away and install them in Ayodhyā. So from ancient times the service of the feet and the installing of the feet have come down in Bhārata. In Bhārata, renowned through generation after generation, these Pādukās have taught spiritual wealth to many countries, spread it abroad, and kept the spiritual principle standing to this day.