Right foot rest on brake?

I am not sure what to do with my right foot! I rest my arch on the foot rest and I'm not sure if I can rest my toes on the brake pedal or if it will start braking. I end up flexing my toes my whole ride to avoid resting my foot on the brake and end up with an aching shin. What is the right way to rest my right foot when I'm not braking?

site:her-motorcycle