Optimal trajectory isn't likely something you can do manually. It would be to take off at a 45 degree angle to the ground. Burn just long enough make the ap exactly 1/2 way to your destination. Then decelerate (using a suicide burn) at a 45 degree angle to the ground, only orienting the lander vertical at the last second when both ground speed and vertical speed are 0. [Edit: You can do it with mechjeb, I believe. If you want to go that route.]