It's not just sprinting which is healthy though. Any foot-travelling which is enjoyable can be healthy. You may do a walk, or a mixture of walking and sprinting, or a fast middle-distance style run. Occasionally you may even feel like travelling marathon distances by foot. You may even enjoy running the whole way, but you should do what feels right at the time, not force yourself to run through pain, discomfort etc at a set pace. If you feel like sprinting up a hill, walking for a bit, or maybe even end up holding a high sub-sprint(but fast) speed for several miles then that's fine too. Then you can go to a slower speed when you start to feel you don't want to keep that speed up any more, etc...
You can do a fun run and try to come first too, just as long as it feel right. Therefore you should have done some running beforehand, and figured out what sort of distances you could race(to win) at, and be comfortable at the same time, and select those distances.
If you don't run barefoot though, trying to make it healthy will be like trying to make a SAD diet healthy. You'd be starting in the wrong place entirely.
