I kicked the ball that came rolling towards me with the outside of my right foot and caught it with my left hand.
この場合、次のような言い方ができますよ。
ーI kicked the ball that came rolling towards me with the outside of my right foot and caught it with my left hand.
「転がってきたボールを右足の外側で蹴り、左手でキャッチした」
the ball that came rolling towards me で「私の方に転がってきたボール」
the outside of my right foot「私の右足の外側」
caught it with my left hand「私の左手でそれ(ボール)をキャッチした」
ご参考まで!