What Ive found to work best so far is a two-stage rocket, the first consisting of a tri-coupler with a solid-fuel booster on each port. That is attached by decoupler to the second stage. Starting from the top, the second stage consists of a parachute, the command unit, 2 fuel tanks and a liquid fuel engine. It's basically a copy of the original Apollo designs. Though it can't reach escape velocity, it got me over 16 km up on its first run and all I had to do to keep it pointing up was hold down the SAS button. I'd say start small and add things, keeping them when they work and tossing them when they don't. Some of my best rockets have been little one fuel tank liquid engines. By the way I'm not using any addon files, just KSP 0.82. Hope all that rambling helps.