Haptic feedback in Virtual Reality (VR) navigation transforms the digital experience into an immersive tangible experience. Haptic feedback, particularly on the legs and feet, augments VR experiences by imitating real-world actions, such as stepping on or encountering objects. It is beneficial for training, simulations, therapeutic interventions, and gaming. Providing haptic feedback on feet can not only enhance user immersion and presence but also enable more natural and emotionally involved user experiences. Although the use of haptics is prevalent in VR devices like handheld controllers, its influence on user experience and workload during VR navigation, especially accompanied by vibrotactile feedback on feet, needs further investigation. In this two-phase study, we investigated vibrotactile feedback on feet during VR navigation using a mixed-method approach. This work’s results indicate that foot-based haptic feedback enhances participants’ perception, spatial awareness, collision information, and path guidance without solely depending on visual feedback while reducing mental and temporal demands and effort.