If you become a member of one of three types of guilds. Mage's, fighter's and theives guides. There are guilds in every city except imperial city. Imperial city has the bloodworks. Which is where you go to become a fighter in the arena. The arena is in the east side of imperial city in the arena district. After joining any of these you can take anything laying around inside a guild or the bloodworks without being charged with a crime. Since you are a member of that place. DO NOT take anything before becoming a member if you try to you will be charged with a crime.