To expand on nasu's answer just in case you are not clear, "escape velocity" at the surface of the Earth is a very high velocity indeed and as far as I am aware not man made object going to space has ever had that velocity at the surface. It is a ballistic velocity. That is, if you expend all of the energy at liftoff and have no further rocket firing, then escape velocity is what you must achieve right then and there, else you will eventually fall back to Earth.
Rockets start off REALLY slowly and use the continuing thrust to keep them moving out of Earth's gravity well. The escape velocity from the Earth's gravity well decreases as the square of the distance from the center of the Earth so when they get higher and higher it gets easier and easier to escape from where they are and that's how rockets make it to the outer planets.
If we had to shoot a rocket with true escape velocity at the surface of the Earth, any astronauts inside would become a thin red paste, so it's good that we don't have to do that.