Picture the small patch of ground your own foot is pressing on right now. Not the room, not the — just that patch, and how it feels through your shoe: wet, soft, loose, cold. Everything this word does starts there. Whatever ends up in that patch takes on its character: the ground itself is described by it, a child or a cat standing in it becomes something you have to walk around, and anything left lying in it can be crushed by the next step.
From the word’s history
Wiktionary gives underfoot as Middle English underfoote, underfote, equivalent to under- + foot, with cognates such as Middle Dutch ondervoet. The word is still doing exactly what its two parts say.
Wiktionary 記載 underfoot 來自中古英文的 underfoote、underfote，等於 under- 加 foot，中古荷蘭語的 ondervoet 是它的同源字。這個字到今天做的，仍然就是它兩個部分字面上說的事。
Wiktionary, "underfoot"
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