Bill, Jeb and Bob explain how to Get To Get Into Kearth Orbit
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A bunch of clips showing a Kearth orbit capable rocket using only the default parts in Kerbal Space Program. Staging sequencing is critically important here, and the margins are pretty thin. You can add a 7 part booster cluster under this if you want a bit more room to maneuver, but this worked fine for me. Watch the video with annotations to get the full experience.
A nice person has produced this table of orbital velocities, these will tell you how fast you have to be going to be 'in orbit'.
https://gist.github.com/1075144
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