"Footprints" is a "modal" jazz standard composed by saxophonist Wayne Shorter and first recorded for his album Adam's Apple in 1966. The first commercial release of the song was a different recording on the Miles Davis album Miles Smiles recorded later in 1966, but released earlier.
Among the significant compositions of modal jazz were "So What" by Miles Davis and "Impressions" by John Coltrane. "So What" and "Impressions" follow the same AABA structure and were in D Dorian for the A sections and modulated a half step up to E-flat Dorian for the B section.
(Free space for solo)