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How To Pick A Standard Yale Lock
First, let's learn how a lock works. I'll only be talking about the common pin-tumbler lock (usually called a Yale lock, after its inventor in 1860). This is the kind you likely have on your front door, with a key containing a series of mountains and valleys of various heights. While your key may fit into other locks, the height of those bumps brings about whether or not it will turn.
Brass pins stop the lock cylinder from turning and un-latching the door. Each pin is in two parts, and must be lined up accurately for the cut in the pin to adjust to the edge of the turning cylinder. If just one of those pins (the majority of locks have five) is too high or too low the pin will bind and prevent turning.
The right key corresponds to the cuts in the pins to set everything in position. If you've ever handled an old lock, or an improperly cut key, you should have to jiggle the key to get the lock to work. That's actually very similar to the process of picking a Yale lock.
Basically, learning how to pick a Yale lock you randomly drift the pins up and down until you get them to the suitable height. But, if they move smoothly up and down it seems unlikely that you'll suddenly find them all aligned at once. Even if you did, you would not know if you didn't turn the lock at that moment. So, step one of picking a lock is to put some torque.
You turn the cylinder of the lock, rotating it with a small screwdriver, thus the pins are clutched against the chamber walls. Now, with friction the pins will not slide freely up and down, but they can be moved by tapping slightly with your lock pick. (a professional lock pick will have a small steel spring included so that you can 'twang' it and make a subtle tapping move).
The torque should hold that in place when you move in to the second pin, and so on.
For any current Houdini picking a standard Yale lock is not too big an issue, hence several apartment buildings and offices employ more advanced locks (such as Medeco brand). These require accurate pin rotation as well as height.
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