A wheelchair with a footrest that tucks as a power base on which the wheelchair seat is mounted rotates about an axis parallel to a surface. The rotation of the power base raises the height of the seat above the surface. The footrest, which is coupled to the support, tucks towards the power base and still avoids obstacles on the surface. The footrest tuck improves the maneuverability of the wheelchair by reducing the radius about which the footrest swings as the wheelchair turns.