How to orbit
Build rocket with three or four fuel tanks + and engine, or a tricoupler and three of each of these things (12 fuel tanks, three engines), decoupler, engine, two fuel tanks, decoupler, pod, parachute.
Launch
At 10km (10000m) tilt to the 80 degree mark on the navball (to the east, or 90 degree side, or the d key)
At 20km, tilt to 45 degrees
At 30km, do nothing until 40km
At 40km, explode tilt to 20 degrees
MECO (x key) until apoapsis
Burn until periapsis is 70km+
???
Orbit
And for the trip home:
Turn your rocket around
Burn until periapsis is about 20km
Decouple command pod
Activate parachute
???
Home.
Images would be better, but I am on my phone.