First, let's understand how a lock works. I'll only be describing the common pin-tumbler lock (generally called a Yale lock, after its inventor in 1860). This is the sort you mostly have on your entrance door, with a key containing a series of mountains and valleys of different heights. While your key may slide into other locks, the height of those bumps determines whether or not it will roll.
Brass pins stop the lock cylinder from turning and un-latching the door. Each pin is in two parts, and it should be aligned accurately for the cut in the pin to adjust to the edge of the turning cylinder. If even one of those pins (most locks have got five) is too high or too low the pin would bind and prevent turning.
The proper key aligns with the cuts in the pins to fix everything in alignment. If you've ever handled an old lock, or a poorly cut key, you may have had to jiggle the key to get the lock to work. That's basically very similar to the process of picking a Yale lock.
Essentially, understanding how to pick a Yale lock you arbitrarily drift the pins up and down until you get them to the suitable height. However, if they move freely up and down it seems impossible that you'll quickly find them all aligned at once. Even if you did, you would never know if you didn't turn the lock at that time. So, the first step of picking a lock is to put some torque.
You turn the cylinder of the lock, rotating it with a small screwdriver, so that the pins are squeezed against the chamber walls. Next, with friction the pins will not move freely up and down, but they can be moved by tapping gently with your lock pick. (an advanced lock pick would have a small steel spring included so that you can 'twang' it and create a subtle tapping motion).
The torque should really keep that in place as you shift to the second pin, and so on.
For current Houdini picking a standard Yale lock is not too big an issue, which is why many apartments and offices employ more complex locks (like Medeco brand). These involve accurate pin rotation as well as height.
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