Games : How can I get a pod back from orbit when it's out of fuel?

What's the best way to return a Kerbal back to Kerbin if they're in orbit around Kerbin. I have my best pilot, Jebediah, stuck in orbit without fuel. I'm quite fond of him so I would like to mount a rescue mission to return him back home.

I'm not really sure how to mount a rescue mission, what type of rocket should I build to get Jebediah back?