This is my lockpicking guide for Skyrim. You can either read the description below or watch the video I have recorded. The video is a little dry, but contains all the reliant information. I will add however that if you are in a town and you want to break into a house without being seen; you should crouch and wait for the eye in the middle of the screen to close (indicating that you are hidden) before starting you lockpicking attempt. This will ensure that your lockpicking attempt is conducted in secrecy.
In Oblivion you could lockpick by the sound of the tumblers rising, but this isn't possible in Skyrim. You need to keep looking at the tip of the pick (see screenshot).
If you are on an area of resistance the end of the pick will judder. You need to probe around the lock until you find an area of smooth motion with the pick. Once you have found it, don't rotate the lock all at once. Rotate it gradually, always looking at the end of the pick. If you find an area of resistance, release, move the pick slightly and start turning again. Apply this technique and you will be able to break even master level locks with a low level character.