The arch of most people is too flat and not 'moveable' enough. This contributes to 1) a cascade of misalignments throughout the rest of the body, 2) poor balance 3) painful feet, and 4)feeling insecure. A 'collapsed' arch can lead to foot 'pronation' (as the bottoms of the feet are turned away towards each other) or less commonly foot 'supination' ( the bottoms of the feet are turned toward each other) but the basic arch problem is the same.
Simply walk barefoot outdoors. Start with lush grass and sandy beaches. Venture out into other textures. As the feet loosen up, even gravel, concrete and asphalt can be comfortable.
Rationale there is an erroneous belief that indigenous people that did not wear shoes were able to do so because of thick callous. This is not true. It is possible to walk on rough surfaces comfortably when the fascial sling at the bottom of the foot is flexible and can conform to the shape of rocks and other rough surfaces below. Barefoot walking makes the feet more sensitive(as in awareness not pain) and the walker more aware of surroundings.
Source: Many, but try http://www.barefooters.org