When the opposing team kicks the ball over the goalline without scoring (including over the goal), a goal kick is awarded to the defending team.
The ball is placed anywhere within the goal box and kicked into play. The goal kick must exit the penalty area before it is touched. If it is, the goal kick is retaken.
The person taking the kick cannot touch it a second time till another has touched it.
For more on the goal kick, see FIFA.com.