"Chiede una domanda."
"Pedir" is used almost only in the restaurant, in that case we use "ordinare". "bestellen" in German, if you are German...
In other cases, I think we tend to use "chiedere".
But I am too Italian to know. And I never remember when I should use "pedir" in Spanish.
We have the verb "richiedere" as well, but we use it for forms, official requests, burocratic stuff, things at work.
Sorry, maybe some English speaker can help you better. Or wordreference...
In case you have doubts on specific cases, please ask.