Final answer:
The verb form that correctly completes the sentence is 'pidieron'.
Step-by-step explanation:
The correct verb form to complete the sentence is pidieron.
In this sentence, the subject 'Yo' (meaning 'I') is performing the action of asking ('pedir') something from 'mis amigos' (meaning 'my friends').
'Pidieron' is the correct verb form because it agrees with the subject 'Yo' and is in the past tense.
Learn more about Verb forms in Spanish