Knotting, as the 11th of the 39 Melachot constitutes of the tying any permanent knot. Tying a bow, however, is permitted, as it is easily undone with one hand. Therefore, one may tie shoes on Shabbat.

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Most of this information is taken from the book "SABBATH Day of Eternity" by Rabbi Aryeh Kaplan, published by NCSY. In the book itself, there are notes that refer the reader to detailed footnotes. I am lucky to have found such a clear, concise manual with these brief overviews of laws so vast and complex there are Rabbis that specialize in them.

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