Soft is a tap (usually, songs ,I've seen, like to roll them because...It's cool), that is *alveolar*. https://www.google.com/search?q=ling...IVDymICh3LjQAp . With the usual part of the tongue raised to the palate, like other soft letters. However, I believe that hard Р is *post-alveolar* (Along with ш). Rather than on/inbetween the teeth and gum line, it's made with the tongue along the ridge of the mouth's "hill".