Tingling in left heel of foot. feels like i need to rub it all the time?

Few possibilities: This may be a nerve impingement of the medial calcaneal nerve or it can be a tarsal tunnel syndrome. There may be a plantar fascial component or it may be coming from a more proximal cause like a radiculopathy from the back. Depending on your foot structure, orthotics may be beneficial. Sometimes injection therapy may be helpful.