Or you can do what I do.

I rotate the figure on the Y Axis and from the side I  select the right foot and move the Bend, Twist and Side to Side dials until the heel is flat on the ground.  Then I select the right toe and bend the toe until the ball of the shoe is flat on the ground.   Then I repeat the process for the left foot and left toe.  Then I turn the figure facing the camera and if needed I will use the side to side dial again to turn the foot a bit if the foot isn't supposed to be exactly flat IE: resting partially on the inside or outside edges.

Once I'm done i return the Y Axis to zero.

Sometimes I use the Pose camera  (right click in the pose window and pick "Pose Camera".  When done, right click again and pick "Main Camera". This way you don't change your main camera perspective)

"It is good to see ourselves as others see us. Try as we may, we are never
able to know ourselves fully as we are, especially the evil side of us.
This we can do only if we are not angry with our critics but will take in good
heart whatever they might have to say." - Ghandi