Watch the SECTION 6: Fingerstyle online guitar lesson by Susan Mazer from Hands-On Guitar: The Beginner's Guide
Now go back and listen to your favorite tunes and try to figure out whether they’re played with or without a pick. Watch a few videos too and see what technique they’re using. Sometimes players switch back and forth between the two. Your right hand has muscle memory as well, so try not to look at your fingers. They know what to do.