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x^{2}\left(5x-1\right)+4\left(5x-1\right)
Do the grouping 5x^{3}-x^{2}+20x-4=\left(5x^{3}-x^{2}\right)+\left(20x-4\right), and factor out x^{2} in the first and 4 in the second group.
\left(5x-1\right)\left(x^{2}+4\right)
Factor out common term 5x-1 by using distributive property. Polynomial x^{2}+4 is not factored since it does not have any rational roots.