Here is a "how-to" guide for any level of barefoot running that suits you -- from lawns to trails to the most rugged terrain.
It may surprise you, but you can run barefoot inside your shoes too! What I mean is, the barefoot technique translates to any surface, including the interior of a running shoe.
The spreading of the toes during the forefoot landing is a tremendous stabilizer against pronation and/or supination. The trick is to keep doing the spread-toe forefoot landing even when wearing shoes or sandals.