An insole includes a heel collar formed by a relatively hard bottom member and a softer top member, the heel collar underlying the heel and arch region and having a channel in its upper surface. A forefoot pad has a forward portion that underlies the forefoot and a rear portion that fits in the channel of the heel collar and is adhered therein. Relatively softer foam pads are disposed within recesses in the lower surface of the forefoot pad in the forefoot and heel strike areas. A footwear system can include the insole in combination with a knit sock having thick padded ball and heel portions and a thinner arch portion, and the insole has an upper surface contoured to abuttingly mate with the sock. The footwear system can also include a shoe in combination with the insole, where the shoe functions to enhance the benefits of the insole.