Originally Posted by mikedragon32
No, once the ball has touched the ground or a team-mate, the score will not be allowed.
That's correct. From law book
9.A.2. KICK AT GOAL - SPECIAL CIRCUMSTANCES
(a) If after the ball is kicked, it touches the ground or any team mate
of the kicker, a goal cannot be scored.
(b) If the ball has crossed the cross bar a goal is scored, even if the
wind blows it back into the field of play.
(c) If an opponent commits an offence as the kick at goal is being
taken, but neverthless the kick is successful, advantage is played
and the score stands.
(d) Any player who touches the ball in an attempt to prevent a penalty
goal being scored is illegally touching the ball.