Looking very similar to the iconic first footprint on the Moon from the Apollo 11 landing, this from the Curiosity rover on Mars shows one of the first "scuff" marks from the rover's wheels on a small sandy ridge. This image was taken today by Curiosity's right Navcam on Sol 57 (2012-10-03 19:08:27 UTC).

Besides being on different worlds, the two prints likely have a very different future. NASA says the first footprints on the Moon will be there for a million years, since there is no wind to blow them away. left by Spirit and Curiosity revealed the time scale for track erasure by wind is typically only one Martian year or two Earth years.

Here's one of Buzz Aldrin's bootprint, to compare:

Curiosity chief scientist John Grotzinger compared earlier images of some of the first tracks left on Mars by Curiosity to images of the footprints left by Aldrin and Armstrong on the Moon. "I think instead of a human, it's a robot pretty much doing the same thing," he said.