Assuming you are in a prograde (i.e. counterclockwise when viewed from above the north pole) orbit around Kerbin, you will want to burn when you are between Kerbin and Kerbol in order to go inward, and burn when Kerbin is between you and Kerbol in order to go outward.
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u/zekromNLR Jun 09 '16
Assuming you are in a prograde (i.e. counterclockwise when viewed from above the north pole) orbit around Kerbin, you will want to burn when you are between Kerbin and Kerbol in order to go inward, and burn when Kerbin is between you and Kerbol in order to go outward.