Picking up stitches - yes, take a look at the video already suggested. You could also google for written instructions, for example -
It just occurred to me, that when it says to pull up a loop of yarn or pull up yarn loops, that doesn't mean pull up a loop of the already knitted fabric. You will have joined on your yarn at the beginning of where you want to pick up stitches, and you work with that... pulling yarn loops up through the knitted fabric.
Now I've probably confused things further...