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The cited verse is employing a literary device called "synecdoche" (a Greek word meaning "to take up together") in which a part of something is used to symbolize or represent the whole thing of which it is a part, or vice-versa. In the case of the cited verse, the "feet" are used to represent the whole person who possesses them. What makes those feet "beautiful" is not any physical or anatomical characteristic, but the gospel (meaning "good news") message of salvation through faith in Christ that is being spread by evangelists using their feet to travel in bringing that message to others who have not yet heard it. A common modern example of this might be the command, "All hands on deck." What is being called for is the presence on the deck not just of hands, but of the people who possess those hands.
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