It's been a few weeks since we did so, but I assume it's done by crossing over the line with the goal posts with the ball in hand and planting it on the ground before the next line on the ground. An alternate method would be for one of our players to kick the ball into that same area and for any other of our players to put downward pressure on the ball while it's touching the ground simultaneously before it crosses the second line. Method three might involve a similar kick which our opponents pick up, in this instance we might be able to tackle that player hard enough to dislodge the ball and shortly afterwards apply downward pressure when the ball is touching the ground. There are other scenarios for scoring penalty tries, but I'm not going to go into them.
The Laurie Daley school of wisdom teaches that the trick is to finish the game with more points on the scoreboard.
The very simple answer is yes. Unfortunately I think it's not probable, but I won't give up hope.