Use Pick Color 
to choose a color from the background picture.
The new thread color is usually added at the end of the embroidery, ready for drawing stitches in the new color. However, when Insert Mode 
is highlighted, and a stitch point is selected, the thread color is inserted at the selected stitch point. This will change the color of a section of stitches that is already in the embroidery. You may also draw stitches in the new color from that point.
Click Pick Color 
and the eyedropper pointer 
appears. Click the desired color in the background picture. The Color Selection dialog box appears. The thread range is selected according to the last new color added to the embroidery. The thread color is automatically selected from the thread range that is the nearest match to the background color you clicked. Change the thread color as desired and click OK.
Pick Color is not available if there is no background picture. Pick Color does nothing if the background picture is hidden.
Shortcuts
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Draw Toolbar:
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Keys: Alt, D, P