My mother used to teach courses in infant massage at a Cannons Health and Fitness Club. This is a nationwide chain of gyms.
Cannons sensibly have a policy of requiring shoes to be removed before entering their creche facilities.
This blog recommends that you adopt a shoes-off policy in your home, not just for family but also for guests and other visitors. Socks, slippers and bare feet are fine indoors, but not shoes. Just say NO to shoes in your house!