A few days ago, I stepped out of my car and felt a piercing pain in my foot-- more like my toes. A piercing, cramping. I was wearing new flip flops. I kind of massaged it out, but still felt pain/discomfort. Kind of limped my way through the grocery store. Just yesterday, I discovered that my two two (the smallest and the one next to it) are numb and tingly, like when your foot falls asleep, when the novocaine from the dentist starts wearing off. Now, the sensation has crept up my leg-- no so much the numbness, but tingling. Is this something to be concerned about?
Your symptoms sound consistent with something called Morton's neuroma.  This is a situation where the nerve bundle located around your 2nd and 3rd toes is irritated or compressed causing pain and sometimes numbness in your toes.  Normal recommendations for Morton's Neuroma include resting your foot, using something called Metatarsal pad inside your shoe which takes pressure off the nerve bundle, and occasionally anti-inflammatories to decrease the pain and inflammation.  You should consider consultation with a specialist as you have pain that is shooting up your leg which may be a sign that the nerve is extremely irritated.