When you pick up a stitch and it's say a straight knitting row you will soon see whether the stitch is twisted in the wrong direction or it's sitting nicely with the previous stitches. If it's not, slip onto left needle and pick up the opposite way you did previously.
However, for more experienced knitters. If I drop a stitch and the pattern is more complex I'm often confused how to pick up onto needle. Is there a nice simple way to know and recall?