The change in the law follows Atletico Madrid's Julian Alvarez having his spot kick disallowed in a European Champions League last-16 match.
During a tense shootout with Real Madrid in March, the Argentine forward Alvarez slipped and VAR spotted that his left foot touched the ball slightly before he kicked it with his right.
Although Alvarez converted the penalty, the goal was chalked off and Atletico went on to lose the shootout and were eliminated from the Champions League.
European soccer's governing body UEFA said the correct decision was made under the current laws but IFAB (International Football Association Board) has said that in such cases the penalty must be retaken.
"(When) the penalty taker accidentally kicks the ball with both feet simultaneously or the ball touches their non-kicking foot or leg immediately after the kick: if the kick is successful, it is retaken," IFAB said in a circular.
"If the kick is unsuccessful, an indirect free kick is awarded (unless the referee plays advantage when it clearly benefits the defending team). In the case of penalties (penalty shootout), the kick is recorded as missed."
The decision to disallow Alvarez's penalty left Atletico boss Diego Simeone livid and the club's fans outraged.
IFAB added that if the penalty taker deliberately kicks the ball with both feet or deliberately touches it a second time, an indirect free kick is awarded or, in the case of shootouts, it is recorded as missed.
The new procedures are effective for competitions starting on or after July 1
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