Yeah, pressing T and having the SAS module does the trick. Tried to add another stage to it and forgot to add more booster rockets, however ditching the first stage worked. Until I tried to ditch the second stage when the decoupler somehow failed and caused the rocket to spin on the end of the parachute. The stage eventually broke off, but so did the parachute, heh. I'll work on adding boosters later and investigate the faliure point between the last stage and the command module.
Haven't achieved full orbit yet, but doing pretty good sub-orbital flights, Mercury program style.
And yes, I've generally done safe landings unless something goes horribly wrong, like the above.
Also, I think I read somewhere on the wiki or about addons about the heat shield, but I haven't seen any of the atmospheric heating that happens on re-entry, just wondering. I did orient the heat shield as it entered the atmosphere though just in case.