Hundreds of missions have flown humans to orbit over the last 60 years, and while every one has had a pilot in command, none of them have actually had the pilot taking manual control of the ascent into orbit. In the early rockets this wasn't even possible, but the Apollo program and Space shuttle both had a backup capability which allowed limited manual control of the vehicle during the critical launch phase.
However, for suborbital flights there's over a dozen pilots who flew to space and back without a computer to guide them.