Before going deeper in the soccer free kicks subject, let me start with a short piece of history so that you can understand how free kicks are viewed now in relation to the history of soccer and how they gained such a big importance.
Today's soccer is becoming more and more sophisticated tactic wise and the times a matches would end 5-4 on a regular basis are long past. More emphasis is put on defense in today's soccer than ever before and it's becoming increasingly hard for strikers to score.
Statistically for example, if the goal average of a match was 4-5 in the 60s, as of the 80s the average dropped to 2-3 goals per match. Therefore, facing a tighter defense with each opponent, coaches and players struggled to find an alternative for scoring from direct play. This is how set pieces gained the important status they hold today.
Obviously, when we refer to a free kick, we think of the offensive free kick, not one that has no real importance in your own defensive half for example. Offensive soccer free kicks can be split up into two more subcategories: direct shot free kicks and crosses.
Of course, the best free kicks to have are the direct shot ones, but these require a rather small area on the pitch to be fired from. Usually a team considers a direct shot on goal from a free kick if the foul occurred centrally in the offensive third.
The range the free kick is taken from is also a factor. Ironically, fouls that occur very close to the penalty box are considered less favorable, since the free kick taker will have a hard time printing a swirl to the ball to drop down fast behind the wall. However, this type of free kick is dangerous if the ball gets a deflection or if it passes straight through the wall, since the goalkeeper won't have time to react.
Impressive free kick takers such as David Beckham, Juninho or Ronaldinho will always prefer a free kick that is somewhere between 22 and 25 yards, because they can add a lot more power to the shot, without worrying there won't be enough space for it to fall down towards the goal under the effect of the swirl.
If you take a close look at David Beckham's free kicks, you will notice that the ball starts falling towards the goal when it's around 6 yards, before that, giving you the impression that it will go over the bar. If the foul occurred centrally around 25-30 yards, you'll probably want to rely on power rather than finesse in your shot. Even if you get a well-aimed shot from such a free kick, the goal keeper has enough time to cover the ground to get it.
A powerful shot on the other hand from such a range, has 2 advantages. It closes the time frame of the goalkeeper, since the ball will move faster towards the goal and you have the chance of getting a lucky deflection from a teammate or an opponent, which will confuse the goalkeeper.
Roberto Carlos and Juninho are probably today's best free kick takers from this range and if you watch a compilation of their successful shots you'll notice a lot of them get slight deflections or go straight in the unprotected corner, with the keeper lacking the time to jump for the ball.
I remember Oliver Kahn, Germany's goalkeeper saying that he would prefer if soccer free kicks from 25-30 yards are not defended by a wall. He said that in such a case, a wall actually hurts the goalkeeper more than it helps, since it can produce an unlucky deflection and it blocks the view of the keeper. Of course, it might have been a bit of bravado from Kahn saying that, but he did have a point since many of these soccer free kicks turn into goals with the help of an unlucky deflection from a teammate in the wall.
Last but not least, crossing free kicks can usually be taken from the side areas of your team's offensive third, but in some cases you can cross from a central position (usually further than 25 yards, if you don't have a good soccer free kicks taker from that range).
What you'll want to do in either case is try to hit the cross hard with a descending curve that should fall somewhere between the penalty spot and the 6 yard keeper protection box. That's the most dangerous place a free kick can land, since it's out of reach from the goalkeeper and close enough to the goal that a slight deflection with the head would push the ball in the net.
The best free kick takers in the world spend hundreds of hours perfecting their skills, so don't think David Beckham, Juninho or Roberto Carlos are simply "talented". True, some players will do better naturally from a free kick, but mastering this part of the game can only be obtained through hours upon hours in the grass, shooting from all angles and from all ranges.
If you want to train your free kick skills individually, ask your coach to let you stay overtime after the practice and maybe ask the help from a goalkeeper. It will be a lot more realistic if there's someone in the goal rather than if you shoot blindly for the net. He can also help you scoop up balls faster, so you don't have to waste time running around gathering them.
If possible get hold of some free kick wall mannequins. They're expensive to buy on your own, but if you train at a club that has them, ask your coach to let you use them after hours.
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