The simplest way is usually to use the Gallery app where you navigate to the picture that you want to delete, and either long-press the picture and select Delete in the pop-up menu or press the menu button/key and select the Delete option.
If the pictures are ones you've taken with your camera, you could also navigate to the DCIM/camera folder on your device's SD Card using an on-device file manager app like ES File Explorer or Astro File Manager.
Failing the above, you can also connect your Android device to your PC where you mount the SD card as a drive on your PC and navigate to the folder where the picture exists, and use your PC's file manager to delete it.
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