I think the simple answer is that the brain -- or rather the nervous system, as a little known fact is that *some* brain-like processing (not just reflex) related to your legs actually happens in the base of your spine -- has a remarkable capability to get good at things in a way that transcends rote repetition.
Most of us who kick a ball at all learn to do so in early childhood. Those with/around kids might have noticed how difficult/awkward a child's first time kicking a ball around is, but as they are very young they probably also attribute it to the child simply having lesser-developed motor-skills on the whole (which is certainly partially responsible, you don't develop very fine motor controls until later in life).
But have you ever watched an adult go bowling for the first time? Its the same sort of pattern (3-ish steps in rhythm, micro-adjustments, synchronized to a swinging limb to roll the ball down the lane), and many (most?) adults having the benefit of years of other experiences and of developing finer motor controls in general, will perform the task entirely awkwardly. What's possibly more remarkable, is that if they pay attention to what they're doing right/wrong, and try to improve, they will usually be rid of their awkward approach by the end of their second game, even if their score isn't improving.
Our brains are wired to get better at things through experience, as a matter of evolution, which is the ultimate survival skill -- adaptability. Many scientists who study early humanoids agree that is was probably the better adaptability of homo-sapiens that led our species to win out over the others, some of which had advantages over us (homo-erectus was more strongly built, others were smaller and had lower energy requirements) -- granted, there was also some interbreeding and so some of those DNA strands likely live on.