他们踢足球。is right. 汤姆跑过踢球。 is not right. You can write it in English and I will translate for you.

they are playing soccer. 他们“在”踢足球。 Tom comes and join them. Tom 也跑过来踢球。 Is this what you want to express？

他们在踢足球，汤姆跑过来踢球

他们_踢_足球。-- correct 汤姆_跑过_踢球。 -- wron

汤姆跑来踢球。