Kick your heels
Wait impatiently to be summoned.
The kicking of heels alludes to the toe shuffling and foot tapping that people resort to when they are impatient at having to wait for something. It is an 18th century phrase and is first cited in a work by the appropriately named Samuel Foot - The Minor, 1760:
"To let your uncle kick his heels in your hall."
See also - well-heeled.