What is the origin of the idiom "take to one's heels" and when to use it?

The idiom "take to one's heels" has its origin in the imagery of someone swiftly running away or fleeing a situation. The word "heels" in this context refers to the back part of the foot, which touches the ground when running. It is commonly used in storytelling, informal conversations, or dramatic descriptions to depict situations involving fear, panic, or the urge to escape.