Yes, I too just insert the right hand needle where I want to begin and use it to pull up a loop of the yarn. Viola! the first stitch. Then you keep going.
There are so many things to learn, and things that the directions don't explain. LOL I remember when I first worked in the round, the instructions said, "Join". "Join??" Like how. I tied the thing together. ROFL You don't need to, you just start knitting. (How was I to know?) It takes a while to get all this stuff. This site is so useful to people who are learning without a live teacher. I wish I had had such a help years ago.