Hopefully not teaching anyone to suck eggs, mask up the door to avoid spray glue getting on to areas not needed, especially into the recess where the glue and material needs to be "poked" into, but not on the exposed side of the door card.
Let the glue on both side tack off, then align on the panel and gently press the foam onto the panel. Before you get close to the recess where the foam and material finish peel off the masking tape, this will allow you to push the foam right down into recess as the glue on the foam wont stick to the panel, as you have removed the masking tape with glue on it.
I used a wide plastic trim tool to push into the groove which also helped to trim the excess by cutting/scribing a line in the groove.
If you understand that you are better than me
