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Picking A Yale Lock
First, let's know how a lock works. I'll only be describing the common pin-tumbler lock (generally referred to as a Yale lock, after its inventor in 1860). This is the sort you likely have on your front door, with a key featuring a series of mountains and valleys of different heights. While your key may slide into other locks, the height of those bumps causes whether or not it will roll.
Brass pins keep the lock cylinder from whirling and un-latching the door. Each pin is in two parts, and it must be lined up correctly for the cut in the pin to align with the edge of the turning cylinder. If even one of those pins (most of the locks have got five) is too high or too low the pin would bind and hamper turning.
The proper key corresponds to the cuts in the pins to set everything in position. If you've ever dealt with an old lock, or a poorly cut key, you might have to jiggle the key to make the lock to work. That's basically very much like the process of picking a Yale lock.
Essentially, learning how to pick a Yale lock you randomly adjust the pins up and down until you get them to the right height. However, if they move easily up and down it seems impossible that you'll quickly find them all aligned at once. In case you did, you would never know if you didn't turn the lock at that moment. So, step one of picking a lock is to use some torque.
You turn the cylinder of the lock, twisting it with a small screwdriver, so that the pins are gripped against the chamber walls. Next, with friction the pins will not move freely up and down, however can be moved by tapping gently with your lock pick. (a professional lock pick will have a small steel spring added so you can 'twang' it and create a subtle tapping movement).
The torque should really keep that in position as you move in to the second pin, and so on.
For any modern Houdini picking a standard Yale lock is not too big a challenge, which is why a lot of apartments and companies use more complex locks (such as Medeco brand). These require exact pin rotation in addition to height.
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