Prepare yourself with the right attire. (preferably sport shorts)
Wear the appropriate soccer cleats (if on grass) , or soccer shoes (for concrete turf). The shoes should fit just right. Grab a soccer ball
Do some stretching before performing this task.
Start your run at the ball from an angle from the left side of the ball (If you’re a lefty, do the opposite direction)
To curve the ball from the right to left, use the inside of your foot, striking the bottom half way up the right side of the ball.
If you want to curve the ball from left to right with your right foot, use the outside of your foot. (! DO not kick the ball with your pinkie toe as this will likely lead to a painful toe injury)
Try to hit the ball just below your pinkie toe on the knuckle.
The height of your kick is not going to depend on where you strike the ball – but on how your knee is lined up with the ball. If your knee is over the ball, the ball will stay low to the ground, which is good for a pass. If you tip back slightly, the ball will get into the air.
Perform/practice with a friend or teammate by placing a cone or another ball between you. Practice curving the ball back and forth to each other without hitting the object btw you.
Usually easier to bend the ball with the inside of the foot, especially if you are still learning this skill. Practice with the inside of the foot first, once you become more skilled, practice curving the ball using the outside of your foot.
Lots of practice. Practice, practice, practice.
First practice kicking the ball with little strength.
Once you become more comfortable kicking the ball. Apply more strength.
Set a goal / target to kick it too. Predict how much curve you apply on the ball and see if the ball can curl to the right target.
Please view the following youtube clip to visually get a better sense how to curl a soccer ball.