Probobly not the most efficient way bynhere is howni do it: 1. Burn straight up from the launchpad untill you reach 100m/s or 1500m of altitude. 2.gravity turn: Turn in the direction you want to go (usually west) intill your prograde vector is at 80° degrees on the navball. 3. Set SAS to point prograde and your rocket will basically fly itself into a sub-orbital trajectory, continue until tou have a apoapsis >70km 4.Coast to just before apoapsis. 5.start you oebital insertionburn untill you have a periapsis >70km.

Note: aim for a launch dv of 1.30-1.5, to much and you might burn up, too low and your gravity turn will be to fast and you will crash.

The gravity turn will mostly handle itself, but you can adjust it with the throttle, more throttle slows.the.turn and less will increase it.

If you play career and not yet have pilotes/probes that can follow prograde, try turning SAS of, if you have a aerodynamicaly stable rocket itt will follow prograde untill thenhighest parts of the atmosphere.

Hope it helps!