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Not knowing NFL rules it's difficult to comment. So, here's a shot at what they were most likely talking about as the codes may be the same. Assuming it were a high school game played under Fed rules....
If A(K) had touched the ball first it would be first touching so if B picked up the ball and eventually fumbled back over to the kicking team B is still entitled to the ball at the spot of firt touching. But there are exceptions to this...
1st - B(R) would need to get the ball with clean hands (obviously) and decline any team K fouls (if any occurred),
2nd - after possessing the ball B(R) would forefeit their right to take the ball at the spot of first touching if they had fouled.
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