Rabbi Yosef Yitzchak of Lubavitch once said: the Torah wants to circle the bimah, and since it cannot do this, a Jew becomes its “feet,” transporting the Torah around the reading table, just as feet transport the head.

The explanation of a Jew being the “feet” of a Torah scroll is as follows: the foot is utterly nullified to the will of the brain, as we can see from the fact that a person’s thought-impulse to move his foot is instantly obeyed. A foot that does not heed the command of the brain is not healthy. Similarly the dancing of Simchat Torah expresses complete acceptance of the Heavenly yoke and submission to the Supernal Will, so that the Torah’s commands are fulfilled without hesitation or deliberation.

(Likkutei Sichot, vol. 4, p. 1169)