When I first started, all the books were espousing fingerstyle and never really talked about using a pick. Tried using my fingers, but became frustrated with it, then learned how to use a pick. Using a pick also helped when I started joining bands, because the finger playing speed just wasn't there. A pick seemed natural & easy, so I kept on playing.
Many moons later, after spending some time away from the bass as my main instrument (only really using it for recording songs etc.), I started to play bass a bit more, and decided to re-learn fingerstyle, more because most of my bass playing "heroes" used their fingers instead of picks. It started off slowly, but after watching videos of these players on how they played, I tried a few different things, and it all started to gel quite nicely, this was about 10 years ago, haven't looked back since & glad I spent the time to work on it. The speed is up, the fingertips are tough, can't imagine going back to using a pick.