Scripts at the end of the page

The hook for registering the script in the footer is:

<?php
function my_init_method() {
    wp_register_script( 'myscript', 'http://www.mydomain.com/js/myscript.js','','','true');
    wp_enqueue_script( 'jquery' );
}    

add_action('init', 'my_init_method');
?>

be sure to look at this and this, both are important.