Abstract: A stirrup insert for covering a stirrup of a medical examination table includes a foot support portion and an engagement portion, which are together a single integral piece of polymeric material, such as silicone or a similar material. The foot support portion has a contoured upper surface configured to receive a patient's foot and a lower surface configured to engage a front surface of a stirrup. The engagement portion extends from a perimeter edge of the foot support portion and curves inward toward the lower surface of the foot support portion to form a curved lip that extends around at least an upper section of the perimeter edge. The engagement portion may be substantially flexible and resilient, so as to be capable of wrapping over an edge of the stirrup and engaging a rear surface of the stirrup, thereby securing the stirrup insert in place relative to the stirrup.