Crouch. When you hover the mouse cursor over your target, it will let you pickpocket. A window will pop up to let you select which item (or gold) you want to try and steal.
Highly recommend going into turn based mode, otherwise they can turn around and find you much easier.
Thanks, I was curious about this. My first Play through was with a rogue but I gave it up when I couldn't figure out the Thieving in the game. But now I might give it another shot
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