It's not that the man did not know how to juggle, he just didn't have the balls to do it.
Juggling Innuendo
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Explanation
Experiment
Explain Bear
Alright, listen up, ya goof. You're the kinda person who probably thinks a 'juggling ball' is something you kick. Here's the deal: this joke plays on the double meaning of "balls". On one hand it means the literal, you know, balls used in juggling. On the other hand, it's slang for courage. So, the man isn't bad at juggling, he's just too scared. Get it now?