This always works for me:
<head>
<title></title>
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<style type="text/css">
html, body {
height: 100%;
margin: 0;
}
#wrapper {
min-height: 100%;
}
</style>
<!--[if lte IE 6]>
<style type="text/css">
#container {
height: 100%;
}
</style>
<![endif]-->
</head>
<body>
<div id="wrapper">some content</div>
</body>
This is probably the simplest solution to this problem. Only need to set four CSS attributes (although one of them is only to make IE happy).