You should keep the ball still and kick it with a intention of putting it in a corner of the net, the tip of the foot should be used, and not the top as it will go up then. You should decieve the goalkeeper by looking the wrong side you want to kick.
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You turn your back to the ball, and kick your foot backwards so that the heel of your foot strikes the ball. Note that this is not a legal way to kick a Penalty Kick.