Getting blood down to your feet is the easy part. Returning it to your heart means moving it upward, against gravity, and your legs have two things that do that job.
The first is the calf muscle pump. Every time you take a step, your calf muscles contract and squeeze the deep veins in your lower leg, pushing blood upward. When the muscles relax, the veins refill, ready for the next contraction.
The second is a series of one-way valves inside the veins. They open to let blood through on its way up and close to stop it falling back down.
In chronic venous insufficiency those valves leak, or the vein is obstructed. Blood flows backward, which is called reflux, and pools in the lower leg. Pressure builds in the veins, and that pressure is what produces swelling, aching, heaviness, skin changes and, eventually, ulceration.