Garbage collection isn't necessarily that difficult, especially when you're in a single-threaded (or cooperatively multithreaded) environment and don't have to contend with an OS. Here[1] is a cons-pair system I wrote in Forth which uses tag bits to identify pointers, a mark-and-sweep garbage collector and a free-list style allocator. GC takes linear time with respect to heap size, and allocations are constant time. The allocator itself (not counting all the list utility routines) is about 60 lines long and fairly easy to understand.

[1] https://github.com/JohnEarnest/Mako/blob/master/lib/Algorith...