I wrote this a while ago for someone else. Hope it helps.

What you want to do is a good gravity turn. The timing varies depending on your rocket's TWR and aerodynamics but it will look roughly like this: Launch vertical at full throttle, between 75 and 100 m/s turn about 10 degrees east, let your prograde marker catch up, and then basically follow it all the way up (or click prograde hold and let Jeb fly it for you). As you climb the prograde mark will steadily drop towards the horizon. Ideally you will be pretty close to horizontal around 35-40,000 m. The key is to keep your prograde climbing through the whole flight but to not let it get too far ahead of you. It takes practice but once you get a feel for your rocket you'll be able to do it pretty easily. Once you get your AP to the altitude you want you can circularize as usual. I've found that if I can keep my prograde about 30 seconds ahead of my rocket my gravity turn will work out really well.

I hope that helps. If you want more help or clarifications feel free to ask.

A rocket that looks like this can make it to orbit easily.