I’ve taken and scored four penalties for England, two of them in shoot-outs, and it’s all about technique, belief and keeping an open mind going into the shoot-out. In St-Etienne, I watched England’s first three penalties and noticed that Argentina’s keeper, Carlos Roa, went the right way every time.

It was something in the run-up he just knew. So I decided to open my body up and pretend to hit the ball to my right, Roa’s left, and at the last minute pull it across my body and go to my left. Roa went the wrong way. I hit the ball in the top corner, although a bit too close for comfort as it clipped the post but still went in.

Every penalty-taker works differently. Some think: “I’m going right-hand corner no matter what.’’ I’m not sure it’s right having a set plan. You can’t give anyone orders. Things change. In England’s shoot-out with Portugal at Euro 2004, I watched their keeper Ricardo and saw how he dived very early.

I was concerned that even if I hit a really good penalty for the corner he could get it because he was going that early. So I made up my mind I was going straight down the middle.

If I were a manager I would not have my five takers set in stone. Of course, I’d have a rough idea. If it goes to penalties today, Wayne Rooney would take one.

So would Frank Lampard and Steven Gerrard. So would Jermain Defoe if he’s still on. James Milner takes a great penalty for Aston Villa. If he plays the way he finished in Port Elizabeth, I’d throw the ball to him.

That’s really important: see who is playing well and include them in the shoot-out. If one of the planned takers has missed a couple of sitters, I wouldn’t pick him. It’s wiser to give it to somebody playing with more confidence. If a full-back has scored I’d be tempted to give them the ball.

Belief is key. When I went up to take my penalty against Roa, I had no doubts whatsoever I would score. I’d had a good game and was almost thinking what am I going to do when I score I was that confident. When I faced Ricardo. I scored during the game and felt on top of the world. I didn’t even think about the possibility of missing.

Yes, it’s great having good technique but all these England lads know how to kick a ball if you asked them in training to stick the ball in the top corner, shaving a post on the way, nine times out of 10 they will. But when you come to a penalty shot-out, it’s a lot different. The weaker ones will think ‘if I miss will I’ll be ridiculed? I hope I’m not the fall guy’.

Shoot-outs are emotionally draining, a real test of character. Even though I was convinced I’d score it was a tough challenge. I don’t care if you are super, super confident that walk from the halfway line is difficult, knowing the whole country is watching you, knowing this penalty could be the difference between going through or going home, knowing that millions of people will be happy or devastated. The penalty-taker will think of his family, knowing he will have to live with the outcome of one touch of the ball for the rest of his life.

I have been fortunate and scored two in shoot-outs but there’s no joy in scoring. It’s sheer relief. Although I always felt I’d score, I thought: “Thank God I’ve done my bit. I’m not going to get castigated.”

I then went back to support the other players. “Come on, lads.” I was just so grateful I hadn’t made a big mistake. Unfortunately, in penalties there is always going to be somebody who makes that mistake.

Penalty-taking nowadays is a lot harder than before with every rule brought in to help the keeper who can move. There are other problems for the taker, although at least the spot is normally pretty flat in this day and age. Takers should try to gain every inch they can, putting the ball towards the top end of the spot.

But if you are one of the later kicks, and it’s had a bit of hammering with the planting foot, it can cause problems. David Beckham missed against Portugal and even John Terry slipped against Manchester United in the Champions League. It looked like their footing gave way because that many people had planted the foot. You just hope the pitch stands up.

It’s very difficult knowing how to console the person who has just missed. Everyone knows they’ve tried their best, not just with the penalty but throughout the whole tournament. Any kind, supporting words can help only one or two percent. They are going to have to get over it in their own time, go back to their hotel room, lie down for an hour and have a cry.

But it’s important to offer some consoling words. It makes them feel better. “At least the lads aren’t blaming me.” If I missed a penalty, I’d be grateful for everyone giving me a pat on the back and saying it wasn’t my fault. But I’d sit in room for an hour and try to get over it myself. It’s tough. Missing a penalty can haunt you for the rest of your life.