The foot is a key structure during gait as it adapts to the ground geometry to insure balance and it stores energy to ease the next step. Because this functionality can be affected, by morphological issues or by aging or disease like diabetes, modelling the foot could help in understanding its correct behavior and the way to avoid or solve pathological behaviors. In this chapter, after presenting the foot anatomy and functionality, we propose a summary of the main foot models published in the literature. We also introduce our biomechanical model, using a Finite element mesh representing several soft tissue layers surrounding rigid bones and cables simulating the ligaments. Two clinical applications, namely ankle arthrodesis and foot ulcer prevention, are also presented.