The main idea behind sticky footer is that you make the content above the footer take up 100% of the viewport height.
The wrap then is forced to have a min-height of 100%, but also allows it to be taller than the height of the viewport if the content is longer than the size of the viewport.
The real trick is that at the bottom of the main div, you put padding that takes up the same amount of space as the footer's height. Then you set a negative top-margin on the footer to pull the div up into that space.
http://jsfiddle.net/6L4hE/

HTML
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CSS
/*
Sticky Footer Solution
by Steve Hatcher
http://stever.ca
http://www.cssstickyfooter.com
*/
* {margin:0;padding:0;}
/* must declare 0 margins on everything, also for main layout components use padding, not
vertical margins (top and bottom) to add spacing, else those margins get added to total height
and your footer gets pushed down a bit more, creating vertical scroll bars in the browser */
html, body {height: 100%;}
#wrap {min-height: 100%;}
#main {overflow:auto;
padding-bottom: 180px;} /* must be same height as the footer */
#footer {background-color: cornflowerblue;
position: relative;
margin-top: -180px; /* negative value of footer height */
height: 180px;
clear:both;}
/*Opera Fix*/
body:before {/* thanks to Maleika (Kohoutec)*/
content:"";
height:100%;
float:left;
width:0;
margin-top:-32767px;/* thank you Erik J - negate effect of float*/
}