A method of installing a foundation (1) for a structure. The foundation body (2) has a toe (7) at its distal end which defines an aperture into an internal cavity (12) defined by an inner wall (8). Fluid is jetted from a plurality of nozzles (9) to direct fluid distally into the soil (5) ahead of the toe (7) during installation. A pump arrangement (13) controlled by a controller (16) is used to vary the quantity of fluid at a proximal end to thereby vary the fluid suspension pressure adjacent the toe (7) in a fluid communication channel (11) extending between the proximal end and the toe (7). The controller varies the fluid suspension pressure as the toe (7) inserts deeper into the soil (5) based on a target fluid suspension pressure as a function of toe depth.