For a realistic rocket,try this: Use the surface MFD. Take off vertically of course, then 10 seconds after launch start pitching down slowly.You should get to about 45deg when you pass 15km, and about 30deg when you drop the first stage. From here, also watch apogee on the Orbit MFD. I like to switch the distance units to get altitude rather than radius.
During the second stage, you are doing a balancing act. Think about the up and horizontal components of your thrust. You need enough up to lift your apogee to the target, eventually, just such that your vertical speed reaches zero when you hit circular speed at apogee and cut off. So watch the vertical speed and acceleration on the surface MFD also. Vertical acceleration will probably be negative, but not too negative. You should know how long it takes the real rocket to reach orbit. For instance, the Shuttle is about 8 and 1/2 minutes, Falcon about 7, and a whopping 12 for the Saturn V. So let's say you have 200 seconds of powered flight left. Your vertical speed is 500m/s up, and your vertical acceleration is 5m/s down. This says you will reach apogee (zero vertical speed) in about 100 seconds. Pitch to change the vertical acceleration to 2.5m/s and you will reach apogee in 200 seconds. Keep in mind that as you pick up horizontal speed, you will gain more and more "centrifugal force" and your vertical acceleration will change. You will need to keep pitching down to keep vacc where you want it.
After enough practice, you will get used to how much pitch up to use during the second stage. Don't worry if you feel like you have to pitch up a lot to keep your vertical speed up. Pointing up at 30deg gains you 50% of your full thrust in the vertical direction, but only loses 13% of your thrust in the horizontal direction.
So, how do you get to orbit? The same way you get to Carnegie Hall: Practice!
Or, you can use the PEG MFD on Orbit Hangar.