How can I include a post in a theme?

You can but I think it’s far more easier for you theme to add a sidebar and then place a text-widget (or any other widget) inside there because that’s far more flexible.

What you describe I did for some sites longer ago. You can just load the post and display it. I used query_posts() to get the post(s) and then have_posts(), query_posts(), the_content() and so on to display it within the template files (e.g. probably footer.php in your case).