Juggling a soccer ball is simple if you think about it; just imagine your foot as a table, and the ball as a cup. If the "table" is flat, the "cup" will not fall off.
All you need is a soccer ball, athletic shoes (preferably cleats), and a clear space.
First, start with practing kicking the ball up to about the height of your stomach, making sure that it isn't to high because you will lose control. Your foot should be flat so the ball can easily hit your foot. You can let the ball bouce on the floor after you kick it. Try to kick the ball up as many times as you can!
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This is what your juggling should look like so far:
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