Highway pegs are one of the best improvements you can make to your bike. They're great for lengthy rides when you "really" need to stretch a bit.
I used the Kuryakyn "kit" number 7993 (see photo below) which includes offset mounts and wide footpad. The offset mounts allow a two inch rotation from center (which is likely to be the outside of your front bar). Between the vertical range of the clamp on the bar and various angles possible with the clamp and peg mount you're guaranteed to find a comfortable position. I have mine set up so my heel can be on the stock floorboard and toes rest on the Kuryakyn footpeg. Very comfy.
Find the entire Kuryakyn selection of footpegs, grips, clamps and other items for your bike at www.kuryakyn.com
Tips: If you find the brackets tend to turn on the crash bar, visit Highway Peg Anti-Swivel. If the offset bracket turns or loosens when you put pressure on it, check out Nord-Lock Washers to keep them tight.