How do you cure a foot pain from going barefoot?

Barefoot. It depends on what the pain is and how it happened while you were bare foot. If you are morbidly obese walking around bare foot you may develope heel pain or a neuroma. Need more info.
Yes. Foot pain due to walking barefoot is due to lack of support in your arch. You need to support the arch to reduce pressure on the arch and the ball of the foot. Recommend shoes with supportive anatomic foot beds such as keens, rainbow sandals, orthoheel shoes and shoes with inserts such as superfeet. If that doesn't help you may need custom orthotics and seek professional help.