http://www.astro.com.my/stadiumastro/
but you need to register 1st. You need to be Maxis Subscriber @ Astro Sport package subscriber.
To register go to ---> https://www.astro.com.my/users/register.php?id_topic=1
After you finish register do follow the steps below by images.
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You can watch it on your mobile too.
The steps to watch the FIFA World Cup 2010 LIVE streaming from your mobile can be found in below link.
http://www.astro.com.my/mobile/articles/art_464.html
Happy viewing!!