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The safest way of doing this is to hover the cursor over the thing you want to pick up, and press the Spacebar - this is the key described in the player's handbook as "activate/use/open". Like for example, if you want to talk to somebody, you hover the cursor on them and press the Spacebar, or if you want to open a door, go up to it and press the Spacebar. You can also use a left-click to pick something up, but personally I don't. I use it only for combat. If I want to talk to somebody, left-click might give quite the wrong impression!
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