The vast majority of people who play FIFA regularly will just get this in the course of playing, however, if you are just trying to get the achievement out of the way quickly, then I suggest the following:
First, from the the main menu of FIFA 16, go to the "Customize" tab, select the "Setting & Controls" tile, then the "Game Settings" tile.
From this menu use
to change to the "User Gameplay Customization" menu" - adjust the sliders in your favor (move error settings to 0, move speed settings up to a point which are comfortable with, max out "Goalkeeper Ability", etc.).
Now switch to the "CPU Gameplay Customization" menu & do the opposite to these settings (move speed to 0, error to 100, & especially set "Goalkeeper Ability" to 0, etc.)
Now, navigate back to the main screen, move over to the "Play" tab, "select "Kickoff", select the teams you wish to use (my suggestion is use Barcelona & then some 1/2 star team from England or Ireland). I suggest you change the "Game Settings" before selecting "Play Match", just set the "Difficulty Level" to "Beginner".
At that point, just let the game play itself - I've rarely had the opposition score against me while AFK on "Beginner". If by chance they do, simply score the equalizer, which will be trivially easy.
When the 90 minutes is up, and the score is tied, the game will take you to a menu that will allow you several options, simply select the "Penalties" tile, win the shootout (which again should be trivially easy) and get the achievement.