Floor boards might be the least expensive way to try initially.
Beyond that there a couple avenues to proceed. HD components or aftermarket.
For an A,AW models though the HD route gets more expensive as the brake side mount is blocked by the exhaust system. It means also going aftermarket or alternative model stock system, D,DX,R, or newer 2013 AW. The peg,pedal braket attches to the two bolts above and below the swingarm pivot. On the shift side you should have the frame attachment lugs there already, they are on the lower frame triangle cradling the fuel tank below the swingarm.
Aftermarket you had two options as well, V-Mod or Kosman Racing. You will need to be sure to get the kit that fits with stock pipes, if that is what you have. Cost new is in the $500-$600 range. Occasionally a set comes available used at reduced price, just purchased one my self for my B model.
The V-Mod and Kosman's for aftermarket pipes attch to the two bolts joining the lower frame section below the engine on either side. In the Kosman set for Stock A,AW type pipes the brake side attaches at the two swingarm pivot bolts and loops over the muffler.
The V-Mod and Kosman are both more "truely" mid mount where as the HD parts, originally from the R and D models are nearly rear-set and you may find them more cramping. If you can imagine the pegs with the HD mounts come out directly below the swingarm pivot, the pegs for the V-Mod and Kosman's are about 4" ahead of that.
Good luck with your decision and search.