There are many ways to get a soccer ball in the air assuming you are using your feet.
1. put your toe under the ball and quickly raise your leg to flick it into the air
2. "drive the ball" meaning getting your toe under the ball while firmly kicking it. this one you will have to practice.
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There isn't an exact way to kick a soccer ball. First, make sure your planted foot is pointed in the direction you want it to go. Then you can kick the ball by the inside of your foot. When you do that it's mostly going to be a pass. Secondly, you need to use your planted foot in the right direction. Then, you want to kick the ball with your laces. Not with you toes or foot it will hurt. When your scoring, make sure you get your shoulders over the ball.
A volley. They are good for shots taken off corner kicks but it is hard to get the timing just right.
It depends on how high you want it to seem. you could say "the soccer ball soared through the cloudless blue sky," or you could say "the soccer ball skimmed above the long, dewy grass."
kick it
Or throw it.
head butt it
punch it
shoot it out of a cannon
bounce it off your face
body slam it