Do you know how to use SAS/ASAS? If you made sure to include the module from the Control tab in design mode, use T to activate it in launch mode, it greatly helps with steering. If you're using SAS and it's still out of control, add some RCS fuel with RCS boosters, use R in launch mode to turn it on and SAS will use RCS thrusters to help with course correction. If none of that works, your rocket is probably not balanced properly... too top- or bottom-heavy, or needs more struts for stability. Also, make sure you're using decouplers or separators to seperate stages as the engines run dry, otherwise you're hauling dead weight for no reason.