Using two controllers, load up a Kick Off game, and using your profile, take the ball to edge of the your opponent's box. Using your second controller, commit a foul (I just chop them from behind). Then Click R3 to move the keeper as far away from the goal as you can. Again, using your main controller simply shoot (only tap the button) to the opposite side of the goal (away from the keeper). If it doesn't work, just repeat it and it'll go in eventually! (It took me 5 goes).
I created this video to help:
Hope this helps.