This work involves various robot behaviours that are required to play soccer using simple primitive rules and then these individual behaviours will be synchronized together so that the humanoid robot is able to play soccer autonomously. The behaviours created are separated into two categories namely object detection behaviours and motion behaviours. In object detection behaviours consists of Red Ball Detection which uses the primitive rules of colour blob segmentation and depth estimation through trigonometric properties. In motion behaviours consists of Scoring, Kip Up and Diving which uses the primitive rule of support polygon and centre of mass. Once these behaviours are designed and created, it is synchronized into two different roles namely player and keeper. The final part of this project is to analyse some of the primitive rules used to design the behaviours so that comparative studies could be done. This project ends with the objectives being achieved and an autonomous humanoid robot which is able to play soccer is successfully being created.