An article of footwear and a method of manufacturing the article of footwear are disclosed. The footwear may include an upper and a sole structure. The upper incorporates a textile element with edges that are joined together to define at least a portion of a void for receiving a foot. The textile element may comprise one or more of an inner layer, outer layer, or intermediate layer of the upper. Various warp or weft knitting processes, including flat knitting, may be utilized to form the textile element.