Managed to get to Duna (KSP's version of Mars, with a bit of Dune thrown in. Unknown if it has spice, sandworms, and hot women with glowing blue eyes, but that's what rockets are for - to go look for hot women on other planets). Like Mars, it has a thin atmosphere, which begins at some 42km above the surface in this case. Rather than send a large three-man pod on a one-way trip and strand three kerbonauts there, I sent two ships: one a single-seater that had the lander, and the other a three-seater in which I removed one kerbonaut prior to launch (had one crewmember EVA and leave the craft on the launch pad, then did an "end flight" thing for him). That way nobody gets stranded anywhere.
So, I put the larger orbiter in orbit around Duna, and landed on Duna with the one-seater lander. I had just about enough fuel in the lander to reestablish Duna orbit and match orbital paths with the orbiter. I literally spent everything I had to do this - fuel and RCS both. Then, when the orbiter got close enough to the lander, I did an EVA, abandoning the lander in orbit, boarded the orbiter, and used that ship to return all three kerbonauts safely home. Much more work than just sending a three-man pod on a one-way trip, but also infinitely more satisfying
I'm not sure if it's possible to actually make a return trip with a landing on Duna with a single craft, and with stock parts only. But it's definitely possible with a two-ship approach using stock-only parts, here's a small slideshow illustrating the mission: