% 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 }
\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}