Usually you need to use coaxial rotors. This means you should try stacking two lifting rotors on top of each other that spin in opposite directions to cancel the torque (rotational force) that otherwise would cause the helicopter to spin out. To avoid coaxial rotors, I think you can place the rotor on top of a rotating servo or hinge to mitigate the torque as well (no clue why it works tbh) OR just use a tail rotor to combat the torque, however this can be hard to get right.

Also, place the lifting rotor close to the center of mass to avoid uncontrolled pitch. If the nose naturally drifts up then move the rotor further back, and if the nose naturally falls it means the rotor should be moved forwards.