There is a free video on this site of how to pick up stitches. Pick up and knit means the same thing (most of the time). Here is a link to the page. CLICK HERE
Scroll down to "Picking Up Stitches".
If you crochet, it is a little like crocheting. You insert the knitting needle into the edge where you need to pick up the stitches, and use it to pull up a new stitch and keep it on the needle. Keep doing that until you have 10 stitch loops on the needle. The video will help. :-)