What's wrong with my foot?

The most weird thing happened to me, well, my foot. And I am unsure what it is, but I know one thing, I'm too afraid to walk on my right foot. I can walk on it if I lurch my foot to the left, as if I am walking on the side of my foot, but I don't want to make that a habit because it's not good. I can't lift my heel up while the front of my foot remains planted so that the arc gets lifted without a weird jabbing feeling on the bottom of the arc. It feels like either a loose bone is split and is stabbing me, or it feels like I'm straining a tendon. Should I see a doctor? I get really afraid to walk on that foot because the pain freaks my foot out, putting it on this sort of defense lock where it clenches up.