Try to pronounce the letter G. What does it sound like? Hard or soft G?

According to wikipedia the phonetic usage includes:
[g] [d͡ʒ] [ʒ] [ŋ] [j] [ɣ~ʝ] [x~χ] [d͡z] [ɟ] [k] [ɠ] [ɢ] /dʒiː/

For English pronunciation it lists:
/dʒ/ /ɡ/ /ʒ/ and silent