[paulca]

Heel and toe is a misnomer. It originates from many decades ago when the throttle was on the left and was just a little nub of a thing sticking up out of the floor. The idea was to put your heel on the throttle and use the brake with you toe.

Today, in most modern road/street cars the accelerator is on the right and is lowered deliberately so it's harder to hit both throttle and brake together by accident.

Normally, one would put half your foot on the brake pedal and once depressed you can "roll" your foot to the right and blip the throttle with the right hand side of your foot.

Here is Senna doing so in an NSX:
[ame="http://www.youtube.com/watch?v=96ekbvjyr0g"]On-board: Ayrton Senna's - Heel-and-toe - YouTube[/ame]

Some racing cars have a larger throttle pedal, just like a truck and in those you can twist your foot and kick the throttle with you heel.

As to lurching getting into second, try changing earlier. ie. get out of first as soon as you can. Anywhere above 5mph is fine. Unless I'm intending on rev'ing 1st out I usually only stay in it for 2 seconds. 1st is for getting the car rolling, use 2nd to accelerate away.