I have the guy focused and walk up to him, the right button shows 'steal' but I have no idea on how to trigger it since right mouse button is still fast movement.
Q (which I reassigned to be social acceptable behaviour) doesn't do it, E doesn't do it. D doesn't do it.

like here: http://i.imgur.com/8Q56IMR.jpg

Shift?

This would be 'E' for me, so apparently those custom keys don't work. I hate key bindings on SHIFT or CTRL, because it breaks my fingers :)

Haha, I got stuck at this stage of the 'quest' or 'job' and played Two Worlds 2 while waiting. Once I come back, I am going to start over and change my key bindings again.