There are several English words that mean almost the same thing, and several Spanish words that mean almost the same thing. There is probably not always an exact match between all the tiny gradations in meaning.
According to spanishdict.com:
escoger: to choose, to select, to pick out, to excerpt, to cull, to elect (por voto)
elegir: to choose, to elect, to name, to nominate
And another one, seleccionar: to pick, to select, to choose
Google Translate is useful here. If you just put simply "escogar" (or "elegir") on the left (Spanish) side, it lists several English translations along with the possible other Spanish translations of those English words.