This article includes a 0:51 video walkthrough.
Quick answer
Your feet are part of your seated surface and should carry some of your body weight. If they're barely touching the floor or a footrest, it creates a pulling force that can add to discomfort in your legs and lower back and increase pressure under your thighs. Set your seat to your desk first, then check your feet. Tilt lifts them slightly, so even tall people may need a footrest.
Step by step
Set your chair height based on your desk height first.
Check your feet. Are they resting firmly on the floor, or do you need support?
If you use a footrest, set it so your thighs stay parallel to the seat cushion and your knees aren't higher than your hips.
You shouldn't have to reach for the footrest.
Also called: footrest, foot support, feet don't touch the floor, dangling feet.
Video transcript
Foot support is an important part of your seated surface. When you're sitting, your feet should be helping to support some of your body weight. If your feet are just barely touching the floor or skimming the surface of a footrest, it creates a pulling force that can contribute to discomfort in your legs, lower back, and even increased pressure under your thighs.
First, set your chair height based on your desk height. Then check your feet. Are they resting firmly on the floor, or do you need a foot support? Keep in mind that using tilt raises your feet slightly, so even taller people may need a footrest after raising their chair to match their desk.
When adjusting a foot support, your thighs should stay parallel to the seat cushion. Your knees shouldn't be higher than your hips, and you shouldn't have to reach for the footrest.