As the Raspberry-Pi Pico doesn't features Lipo battery circuitery, we do added a special connector to plug an [https://www.adafruit.com/product/1944 Adafruit PowerBoost 500 charger] on the board.
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Just connect the Pico to you computer (or power it with a wall adapter) and the Lipo will auto-magically start to charge-up. Unplug your pico from computer and the PowerBoost charger will start to discharge the battery to power your project.