This is done in Orbiter, and shows the orbit - it has a futuristic spacecraft, but I hope to do it again in near future with a tethered assembly of e.g. Space-X Dragon + fuel tank spinning for Mars gravity - or some other similar arrangement.
It's a "Mars capture orbit" - so the delta v to get into it is actually less than you need to get to the Moon. They could have put something like the lunar module into this orbit - and returned to Earth - with a mission similar to the Apollo ones - that is - except of course the humans couldn't survive the six month journey there, with the Apollo technology.