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You can change your goalkeeper at any time the ball is out of play, just like any other substitution. Before a penalty kick, the ball is out of play, and so a change or substitution can be made. However, once the kick is taken, if the ball remains in play (such as a successful save or a rebound from the goalpost or crossbar), then the new goalkeeper must remain the goalkeeper until the next time the ball is out of play.

Some youth leagues and competitions only allow substitutions when the subbing team has control of an out-of-play ball, or when both teams with to substitute at the same time. For example, if the Blue team wants to sub, they can only do so when Blue has the throw-in, free kick, goal kick, corner kick, or penalty kick. In this case, the other team could not change goalkeepers because substitution wouldn't be allowed, unless the other team wants to make a substitution, then Blue would be allowed to make the change.

Remember that, as with pretty much everything else in the game, the goalkeeper has a right to change positions, but only with the referee's permission.

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Q: Can you switch goalkeepers before a penalty kick?
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