Surely, there are some codes to make your footer sticky that can be found out there. Some of them delivered with jQuery, others with pure CSS implementing different techniques.
After trying many of them, mostly without any dynamic height functionality or really not fitting the project website structure, we came across the code from Mojotech.
Have a look at the code and its full explanation at Mojotech’s Blog: Responsive Dynamic-Height Sticky Footers
See the Codepen working example.