You may wrap the yarn around the needle the same way you grab it for crochet. That's backwards to how it would normally go for knitting, but if you're working in the back loop that should keep the sts from twisting. Just make sure you work into the leg of the st that's closest to the needle tip; twisted sts are tighter than untwisted one.
Loosen up your grip on both the needles and yarn, they won't be going anywhere. Don't pull on the yarn after you make the stitch to tighten it up - making the next stitch will do that.
sue- knitting heretic