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This is called Putpocketing (opposite of pick) so just use confidence and work slowly there is no realy technique published on how to do this so u just have to mess around with it. if they catch you then say u were taking it out of their pocket and ask them if you could use it for a trick. Then go into some color change or something. If im at school and im walking behind someone who has their back pack on sometimes i will unzip the zipper of the out side pocket and put it in they rarely notice but if they do use the previously mentioned "out."