If we read this wonderful poem carefully, it is clear that the way that the speaker makes his decision between the two roads is that he opts to follow the road that loooks as if it was less travelled upon than the other. Note how this second road is described in the second stanza:
Then took the other, as just as fair,
And having perhaps the better claim,
Because it was grassy and wanted wear;
Though as for that the passing there
Had worn them really about the same.
Note how the road is described as being more "grassy" and how it "wanted wear," pointing towards the way that this road looked like it had not been used or travelled upon much. However, having said this, the third stanza suggests that both roads are pretty much the same, so the speaker opts for the road that, to his eye, looks less travelled, though we as readers could suggest that there is little to choose between them.
He first of all examined both the roads ..he saw that the 2nd road was less taken by the people and as he was a courageous person he took the 2nd road but he still hada wish in his mind about taking the 1st road as well....