A foot and ankle support system using one or more pressure-flexed support bars made of resilient material, each of which can be adjustably positioned and removably attached to selected positions along the medial, lateral, or posterior heel sides of an article of footwear. One end of the support bar is affixed to the base portion of the article of footwear and the other end is affixed to the collar or ankle portion causing the resilient support bar to flex into a bow-like position. Each support bar stores energy and returns resistance when engaged by various directional movements of the foot during walking, running, sports activities or rehabilitation. A plurality of pressure-flexed support bars work in tandem to provide additional support and control of foot inversion and eversion, pronation and supination. An alternative embodiment uses a pressure-flexed bladder type support bar filled with air, gas, liquid gel or other material.