Overview: As our connection to the Earth and the foundation of much of the movement we do both on our mat and off, our legs and feet are integral not only to our ability to function physically, but also to our sense of feeling grounded, which in turn contributes directly to our ability to feel at peace within ourselves. In addition to examining the underlying structure and operational mechanics of the legs and feet, this section will also introduce two important principles of functional anatomy that apply to the whole body, but that are most easily demonstrated in the legs.