You could use absolute positioning to pin the footer to the base of the parent div. I have also added 10px padding-bottom to the wrap (match the height of the footer). The absolute positioning is relative to the parent div rather than outside of the flow since you have already given it the position relative attribute.
body{ height:20000px }
#wrapper {padding:10%;}
#wrap{
float: left;
padding-bottom: 10px;
position: relative;
width: 40%;
background:#ccc;
}
#fixed{
position:absolute;
width:100%;
left: 0;
bottom: 0;
padding:0px;
height:10px;
background-color:#333;
}