OK, this may get a little long as it is something that I have become kind of passionate about recently. I have to say that I am kind of surprised by how many people on this thread seem to have a knee-jerk "it's too dangerous" or "yuck" reaction to going barefoot. After all, this IS the way we were meant to be, right? Of course you can injure yourself if you jump straight in to running barefoot or in minimalist shoes without the proper preparation - just like you would if you went to the gym and tried to lift twice your bodyweight the first time out or did a headstand in your first yoga class ever. And until the skin on your feet becomes more leathery, (like it should be) obviously you need to be more careful and take it slow.
I have been 90% shoeless for the last 6 months or so - and yes, that is in a major city. And I'm sorry, but, contrary to popular belief, the streets are NOT liberally strewn with broken glass. Also, a piece of glass generally lays flat and unless it is stuck in a crack sticking straight up it is not going to penetrate your foot. What little bit I see is easily avoided and/or is small enough that it is really not an issue. And what makes people think that natural surfaces are any less hazardous anyway? A sharp piece of gravel can hurt you just as much as that feared bit of glass and tree roots can be just as treacherous as broken or heaved sidewalks. Gotta tell you, acorns and acorn caps are a LOT more likely to give you a cut or bruise and we have a LOT of oak trees around here. But not being insulated from your environment and feeling all the different textures can be just really cool and interesting. Once you have done it for a short while, you will find that you don't even have to consciously watch where you step as carefully as in the beginning because you develop a sense for it. The main thing that I see is that my pain from serious knee osteoarthritis is much less and I don't have nearly as many backaches now either when I walk or stand around a lot.
My usual recreational walking trail is a sidewalk around a small lake with lots of dogs as well as geese and ducks. This means a fair amount of poo to be dealt with also. But, I figure that's what soap and water is for, right? And how often have you stepped in some without even realizing it until you smell it in your house later that night and have to go around smelling all your shoes to find it? (yuck - grin) At least I pretty much know it right away ... (ooh, squidgy). I wash my feet as soon as I get home - so at least once a day - how often do you wash your shoes?
As for the concrete issue, I haven't found it much harder really than a lot of natural surfaces in the "real" world like hardpan, rock and hard-packed soil. The only time I am careful on it is when my feet are wet as they are a bit softer then and some pavements are kind of abrasive. Saying that we didn't evolve to walk on surfaces like that and therefore our feet need the protection of shoes is a bit of a red herring as far as I'm concerned.
The last point I want to make here (for right now at least) is to suggest something to think about. That if you wear "normal" shoes for the major part of your day and then try to go for a run barefoot or in something like VFFs, then you are kidding yourself and risking injury. And why does it seem to be that everyone is so concerned about "barefoot running" and its risks or benefits when they are not considering the same for all types of daily living/walking?
If barefoot is good, then it is good - and not just for exercise.