Better yet, put it in a chest or crate, or shove it in some other npcs pocket. Take the item you stole and put it on the ground. The npcs are smart, so you have to be careful now. Have a second party memeber, the one who isn’t talking sneak outside of the victims npcs field of view. You can do this to 2 other npcs if there are several people walking around. This prevents them from turning and seeing you steal. Simply approach the npc you want to take from and talk to them.
