There is a knack in doing this kind of thing unpretentiously and the Pope seems to have it:
Pope Francis washed and kissed the feet of dozens of young prisoners in a Holy Thursday ritual in a gesture of ‘love and service’.
He continued a tradition he began as archbishop of Buenoes Aires by holding a Mass in the Casal del Marmo facility in Rome, where 46 young men and women currently are detained.
Two of the 12 were young women, a remarkable choice given that the rite re-enacts Jesus’ washing of the feet of his male disciples.
[….]
‘This is a symbol, it is a sign -washing your feet means I am at your service,’ Francis told the youngsters. ‘Help one another. This is what Jesus teaches us. This is what I do. And I do it with my heart. I do this with my heart because it is my duty, as a priest and bishop I must be at your service.’