If you're falling back to Earth it usually means you haven't achieved orbital velocity. Attaining orbit isn't just a matter of geting up high enough, it a matter of going around the planet fast enough. Try pitching down more in the later portions of your ascent. Start with a very steep climb to get out of the thicker air (to reduce drag so you can accelerate faster), and over 10km start pitching down gradually.By the time you are at 80km you should have a pitch of 10 degrees or so. Stop your burn when the ApA (use the DST button on OrbitMFD to get ApA instead of ApR) is at your desired altitude (say, 250km), then coast up to it. Shortly before you reach your ApA (watch the ApT number on OrbitMFD, and 10 to 30 seconds, depending on the ship and how fast you're going) burn prograde to bring your PeA up to your desired altitude.
It's worth downloading AMSO and the DGIV, both have launch autopilots. Watching the way they launch can show you what pitch angles to use at a given altitude.