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soccer originally came from the England where it is known as football, when it was created in medieval times village children would have to use any means necessary (within reason obviously) to get a pigskin ball from one end of the village to the other. over years of adaptation the rules in different villages changed. in some villages they could only use there hands (which is the original origin of handball) and some villages there feet. using feet turned out to be much more popular and has survived as football or soccer to this day.
Law 12 of the IFAB's Laws of the Game (the rules the world plays by) prohibit touching of the ball while it is in play, except by the goalkeeper within his own penalty area (and even then, not directly from a throw-in or pass from a teammate, not for longer than 6 seconds, and not directly after releasing it from possession). The game was invented to be one played primarily with the feet, and allowing players to handle the ball would be contrary to that.
No you can't if you are forward of defense. Only the goalie is allowed to use their hands in soccer.
Some players can use their hands in soccer, like the goalkeeper or players taking throw-ins.