I found Kerbal to be a good stepping-stone to Orbiter. Kerbal is more instant-gratification, but it lacks the realism that I've come to love from Orbiter.
I've learned a ton about spaceflight from playing Orbiter. It makes watching real launches much more interesting, since you will actually know what's going on.
Start out with the built-in Delta Glider. Once you're comfortable with that, download the XR2 Ravenstar from http://www.alteaaerospace.com/ (free). It's a much more advanced craft with more bells and whistles to play with, but it's also a bit more challenging to fly.
http://en.wikipedia.org/wiki/Keplers_laws_of_planetary_motio...
http://en.wikipedia.org/wiki/Newtons_law_of_universal_gravit...