If I see twenty dollars fall from a man's pocket, I would go to pick it up and run away.
What is you reason for doing this without telling the man.
Because I do not want to get a real job!
I think that you should just hand the money back. There is no reason that you need to steal from other people.
If you do good things you will be called a good person. But this is not true for me.
In a way this is stealing from someone else. The fact that you are able to see the money fall from the person's pocket, yet you still take it is why it is stealing. You could easily just give it back to them.