A heel protector (100) includes a leg engaging section (101) and a foot engaging section (102) intersecting at a heel receiver (103). The leg engaging section (101) and the foot engaging section (102) define a leg insertion aperture (104). The leg engaging section (101) defines at least one aperture (203) disposed in an ankle region (205) to permit a connection tube (1002) extending from an inflatable bladder (901) of a compression device (800) to pass therethrough. The heel protector (100) and compression device (800) work together as a rehabilitation system (1300).