Go forward, but have something pulling you always to one side or the other.
That makes a circular path.
With space shuttles and satellites, the initial "go forward" force is provided by rockets, which never go straight up, but always eastward. Add to that whatever tangential velocity you had just sitting on the ground (which itself is turning). The Earth's gravity does the pulling to one side.
If your tangential (to the surface of the Earth) velocity is too slow, you spiral down and burn up in the atmosphere or crash. If your tangential velocity is too fast, you either go into a higher orbit, or into an elliptical orbit (I don't recall exactly how it works in those cases). if it's way too fast, you go off into space, possibly to be captured by another big object (after a zillion years or so).
Height above ground alone will not put you into an orbit.
I understand the notion of the "slingshot effect" whereby they can change the direction and velocity of a deep-space probe by aiming it to go near (but not at) a large planet, but I'm fuzzy on the elliptical orbit business, and how critical it has to be to keep from spiraling down on one hand, and escaping into interplanetary space on the other. I know comets do it all the time, and they're really dumb.