Firstly you need to got to Systems > Bones and click and drag two bones to represent the leg bone. Then click and drag two more bones to represent the bones of the foot. If you snap near the nub of the leg bone, the foot bone will immediately become linked to the leg bone.

Next you need to go to Helpers > Point. In the small dialogue box check point and box. Now click in the view port four times to produce your helpers. You can change the size of these quite easily in the dialogue box, it is a good idea to make the Heal and Toe helpers larger than the Heel up and Toe bend helpers. Name your helpers - Heel Bone Helper, Heel Up Helper, Toe Bend Helper and Toe Bone Helper.
Now click on the thigh leg bone, and go to animation on the tool bar, click on this and find Constraints > HI solvers. This will form a line similar to an elastic band from the thigh bone. Drag this to the nub of the leg bone, and a blue cross will appear, this is your solver. Now repeat this with the heel bone producing a solver between the heel bone and the toe bone, and then the toe bone, producing a solver between the toe bone and the nub.
Click on the Toe Helper and then click on the Select and Link tool. Drag the cursor to the Heel Helper so that these two helpers are linked.
Next click on the IK Solver for the Ankle. Go to the Link tool and drag the cursor to the Heel Up Helper. Now the Ankle and the Mid foot are linked to raise the heel.
Next click on the IK Solver for the Toe. Go to the Link tool and drag the cursor to the Toe Bend Helper. Now the toe will react with the mid foot area.
Finally link the Mid IK Solver + Heel Up Helper + Toe Bend Helper to the Toe Helper.
Your foot is now fully rigged.
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