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After committing a crime you can either go to jail or pay a fine. This is activated after you are stopped by one of the city guards while passing a checkpoint. You cannot get past them without entering dialogue with a guard when you have committed a crime and have not paid. When in the jail you can lock pick the door, however this is hard when just starting out. You can have your crimes erased so that you don't have to go to jail if you do mayana's quest.