% This file is public domain
% If you are using arara, you need the following directives:
% arara: pdflatex: { synctex: on }
% arara: makeglossaries
% arara: pdflatex: { synctex: on }
%
%http://mirrors.ctan.org/macros/latex/contrib/glossaries/glossaries-user.html#sampleFnDesc
\documentclass{report}

\usepackage[colorlinks]{hyperref}
\usepackage[hyperfirst=false]{glossaries}

\makeglossaries

\renewcommand*{\glsentryfmt}{%
  \glsgenentryfmt
  \ifglsused{\glslabel}{}{\footnote{\glsentrydesc{\glslabel}}}%
}

\newglossaryentry{sample}{name={sample},description={an example
description}}

\begin{document}
\chapter{Sample Chapter}

First use: \gls{sample}.

Next use: \gls{sample}.

\printglossaries
\end{document}