What was interesting is how short the single engine burn was to bring it from suborbital to orbital. It was just a few seconds. I'm not even sure I saw the altitude change.
If you'll excuse some poor ASCII art:
_______
______ / \
/ \ / \
burn here -> * O | result: | O |
in elliptical \______/ \ /
orbit \_______/edit: Also, Orbit is mostly a sideways speed thing rather than a height thing. The aim is to be "going sideways so fast that even though you are falling, you keep missing"