I've always found a good selection of shoes, socks, underwear, etc. at JC Penney's. The shoe department is set up for self-browsing, but the staff is also very friendly about helping you find the right shoe and right size. I don't think they're on commission, which in my mind helps -- unless it's as a group. Often, I've had several staff members bring me selection.
I also like some of their clothing, jewelry, towels, bedding and rugs and I even got a lamp on sale for a good price.