The best way to learn lock picking is by doing it. Head to your local hacker or security event with a lockpick village set up and go to town.
But not all of you can do that. So the next best thing is to see what is happening inside the lock and then get yourself some tools and try it out. We've pulled together some different visualizations that will help show you how to pick locks.
Animated Illustrations of Lock Actions and Lock Picking
Normal conventional lock operation, front view
Normal key operation, side view
Setting a pin, front view
Picking by individual lifting
Animations by Deviant Ollam at toool.us licensed under Creative Commons
Lock Picking Videos
How lock picking works shown with a cutaway lock
Defeating a Handcuff Lock with a Shim
Locks: Basic operation and manipulation
Do you really want to dig into lock picking? Schuyler Towne's 24 part video series on YouTube is a great place to start.