My personal opinion is that Jesus gave us an example of service.
He taught that we should serve one another by love.
I don't think His words mean that we should literally have regular "foot washing services."
I've been part of churches who practice foot washing. I've participated. I've never heard it mentioned in the church where I have been going since spring of 2006 and we have (open) communion about once a month. I have no problem washing a brother's feet. I think washing feet is symbolic of serving one another. I think Peter was thinking back to that night in the upper room when he wrote these words years later:
1 The elders which are among you I exhort, who am also an elder, and a witness of the sufferings of Christ, and also a partaker of the glory that shall be revealed:
2 Feed the flock of God which is among you, taking the oversight thereof, not by constraint, but willingly; not for filthy lucre, but of a ready mind;
3 Neither as being lords over God's heritage, but being examples to the flock.
4 And when the chief Shepherd shall appear, ye shall receive a crown of glory that fadeth not away.
5 Likewise, ye younger, submit yourselves unto the elder. Yea, all of you be subject one to another, and
be clothed with humility: for God resisteth the proud, and giveth grace to the humble.
6 Humble yourselves therefore under the mighty hand of God, that he may exalt you in due time:
1 Peter 5:1-6
Verse 5 reads:
"put on the apron of humility" Moffatt, ISV"
"wrap yourselves in the garment of humility" NEB
"wear the overall of humility" Phillips
"Clothe (apron) yurselves, ... with humility --as the garb of a servant" Amplified