This is a frequently repeated statement & there is truth to it, but don't think it means that a coach isn't needed. I can't imagine a child who wouldn't benefit from being taught proper technique & basic soccer terms, concepts & rules. These aren't things a child will learn by themselves in the backyard. However, "over coaching" can be as bad as "under coaching", & that is what "The Game Is The Best Teacher" warns against. Thinking of yourself as a "teacher" & not as a "coach" may help you avoid the tendency to "over coach". Some coaches believe that the best way for players to learn to play is by playing or scrimmaging instead of practicing. This idea doesn't make any more sense for soccer than it does for basketball, hockey or any other sport. Scrimmaging is no substitute for practicing specific skills. Also, if you scrimmage a lot your players may be less excited about their real games. (See "Over Coaching" & "Small Sided").
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