How to setup a skeleton like this?

[SheepFactory]

pick one end , pick the other end , hit "p" (parent) , or use connect skeletons (which does the same thing)

A|i

[ACFred]

You can snap to the ankle joint by pressing "v" while dragging the top of the foot joint to it.

To keep it there, it depends upon what you're trying to do. If you want your foot to be on the same joint chain then you can "Connect Joint" under the Skeleton menu.
Since it looks as if you want to keep your foot on a separate joint chain than your leg, you'll want to Point constrain the two joints together (you can do this instead of doing the "v" and dragging method). First, you click on the constrainer object (the joint at the end of your leg chain) and then click on the constrained object(that'd be your foot joint in this example).

If this doesn't work or make sense to you, then press F1 (your Master Index) and click on the Essentials link. I think you should go through the essentials section before proceeding. It'd help you avoid a lot of future frustration.

[svenip]

i guess, you should throw away the joint from the foot which you wanna connect to the leg, and then parent the new top joint from the foot to the leg. or put the foot joint to the position of the leg joint with snap to point and then do "connect joint". this will do the connection without creating a new bone between. but after you moved the foot and re-rotated the outher joints of the foot, just make sure that the joint orientation is good. you will have to reorient the joints.

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