The Navi Yeshayahu describes how when Moshiach will come, Hashem will split the river and the Jews will cross it with their shoes. What is the significance of crossing the river with shoes?

Also: Why do our sages say that a person should sell the beams of his house in order to buy shoes? And why are we not allowed to wear shoes on Yom Kippur? 

This and more in this Shiur on Geulah and Moshiach by Rabbi Sholom Zirkind.