To simplify the reasoning, let $p=419, k=5, a=5;\;$ i.e. you want to compute a root $ r^2\equiv a \bmod p^k$. For a solution with $k=2$ see my answer
https://math.stackexchange.com/a/1895883/61216 where I compute a solution $\bmod p^2$.
In the table below I show the lifting steps for the root $r_0\equiv\sqrt{a}\equiv 41 \bmod p$
r = r0 = 41
z = (2r0)^(-1) mod p = 46
j=1
p^j = 419
x = (a-r^2)/p^j = -4
x = x*(2r0)^(-1) mod p^j = 235
r = r + x*p^j = 98506
j=2
p^j = 175561
x = (a-r^2)/p^j = -55271
x = x*(2r0)^(-1) mod p^j = 90949
r = r + x*p^j = 15967195895
j=3
p^j = 73560059
x = (a-r^2)/p^j = -3465893695780
x = x*(2r0)^(-1) mod p^j = 19468360
r = r + x*p^j = 1432109677429135
j=4
p^j = 30821664721
x = (a-r^2)/p^j = -66542094554315137820
x = x*(2r0)^(-1) mod p^j = 8060623011
r = r + x*p^j = 248443251997096924066
p^k = p^5 = 12914277518099
r mod p^k = 8302875642540
Now check that $8302875642540^2 \equiv 5 \bmod{419^5}.$ Now repeat the corresponding steps for the other root $-41 \equiv 378 \bmod 419$
to get the solution $4611401875559.$
Note that for greater values of $k$ it is faster to compute the lifted solutions $\bmod p^{2^j}\;$ (quadratic Hensel lifting). For another references
see also the section Powers of odd primes
of John Cook's Solving quadratic congruences and the Wikipedia example section.