Step 1: Total number of shoes = $5$ pairs × $2$ shoes each = $10$ shoes.
We are selecting 4 shoes at random.
Step 2: Total ways to choose any 4 shoes from 10:
\[
\binom104 = 210
\]
Step 3: We need probability of at least one pair.
It’s easier to find the complement — probability of no pairs — and subtract from 1.
Step 4: For no pairs: Choose 4 different pairs from the 5 available.
Ways to choose the pairs:
\[
\binom54 = 5
\]
From each chosen pair, select 1 shoe (left or right):
\[
2^4 = 16
\]
Thus, total ways with no pairs:
\[
5 \times 16 = 80
\]
Step 5: Probability of no pairs:
\[
\frac80210 = \frac821
\]
Step 6: Probability of at least one pair:
\[
1 - \frac821 = \frac1321
\]
Step 7: Thus, the probability is $\mathbf\frac1321$.