You can find vivid verbs to substitute for ordinary ones in Roget's Thesaurus. This invaluable tool provides multiple synonyms for more colorful, strong and believable imagery in your writing. Another excellent tool is the "Other Ways to Say" poster series, which lists at a glance a number of options. High schools and universities fill their websites with helpful resources to achieve vividness. Los Medanos College, for example, publishes a chart with 100 vivid verbs used to substitute the word "said."
Read all you can to discover vivid verbs. William Shakespeare, to name one author, invented numerous vivid verbs, such as "besmirched," "swagger," "bump" and "rant." Finally, write deliberately for vividness: let your "I said" become "I bellowed," and your "I did" become "I performed, I produced, I succeeded."