No. A retake of the penalty kick is the correct action.
The requirements for all players other than the kicker and goalkeeper on a penalty kick are:
1. must be outside the penalty area
2. must be behind the penalty mark (12 yards from the goal line)
3. must be outside the penalty arc (10 yards from the ball)
The referee should not signal for the penalty kick to be taken until and unless all of these requirements are met and the goalkeeper is on the goal line between the goal posts, facing the field, and the attacker, who is taking the kick, is clearly identified.
So, in your situation the referee was wrong to blow the whistle to allow the kick to be taken in the first place. He should have looked, noticed, and removed the 2nd attacker from the penalty area.
However, since the kick was taken and a goal was scored, the 2nd attacker's presence must be considered an infringement of the Law by the kicking team (encroachment), and the correct restart is a retake of the penalty kick, not a goal kick.
If a goal had not been scored on the kick, the restart is more complicated, but the kick would NOT be retaken. The restart could be a goal kick, corner kick, IFK for the defense, or the ball simply remains in play, whichever is appropriate depending upon what happened with the kick.
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