Perhaps we have a model here in Pope Francis.
Did Jesus talk with the Samritan woman? Yes, even though it was not acceptable in those days to do so.
His motive — love for all evangelization
At the last supper Jesus washing of “the Disciples” feet, in content with the passage....was emphasize they were to serve one another..(as believers), rather then squabble over who was more significant.
I do think the Pope went too far by kissing the feet as he did...were the individuals believers? Because we can't ignore the fact Jesus washed “the Disciples” feet....not unbelievers...and this to make a bold statement concerning they were to serve one another.
However, this is the first Pope I've found quite interesting... and perhaps he will make a difference within the Catholic faith as he certainly seems to be taking the church to a place where they remember what the family of believers is about. Time will tell....no doubt opposition will follow him.
Perhaps the model should be Christ, instead of the Pope. It is not some super-human feat that the pope performed, but something that any Christian should feel no hesitation to do in regard to his fellow man—that is serving others.