Is the tense of my sentence correct? [closed]

I have below sentence -

I should have turned left at that point to leave the road behind and pick another road to reach Washington

I am little concerned on the the word 'pick'. Should it be 'picked'? Because, the theme of my sentence is based on some past event.

It depends on whether you want pick to belong to "should have" or to "to". You can parse your sentence in two ways:

I should have (turned left at that point to leave the road behind) and (picked another road to reach Washington)

or

I should have turned left at that point to (leave the road behind) and (pick another road to reach Washington).

You can clarify which you intend with a comma; for the first instance put the comma after behind, for the second put the comma after point.