When I hatched chicks out we had 2 with twisted legs/feet. Using masking tape cotton wool we set the legs/feet in the right place, and hoped for the best. I don't know if this is a good method for this or not, but it worked for 1 of the chicks, but the others legs were so twisted it could not move with or without the tape, so sadly it passed away.
I would seek the advice of a vet as I'm not sure if my chicks' legs/feet were broken, more just twisted. Anyway, hope I helped!