You've got it exactly. Just slip the stitches off the knitting needle, and onto the tapesty needle, and pull the yarn through the stitches. I like to knot it once on the inside, then go through those same stitches again before cutting the yarn.
If you are up for trying out double pointed needles, a basic hat is a great beginner project. There are also some hats knit on straight needles. These will have a seam running up the back. It is possible to sew the seam virtually invisibly. (I'll put up a video on how to do this one of these days.)
I added a couple new projects to the "Getting Started" page, and VERY soon (tomorrow probably) I will have dozens of new projects up on the Free Patterns page, including several beginner projects (which are labeled "beginner.")
KnittingHelp Queen Bee
It is not because things are so difficult that we do not dare; it is because we do not dare that they are difficult.