During reentry, spacecraft like Apollo run a risk of skipping due to an excess of lift. (The blunt body shape doesn't generate a lot of lift, but it does generate some at hypersonic velocities.) But lift generates drag: you can't get lift for free, you have to have extra speed to create it. Apollo in particular reentered with a lot of extra velocity, since it was generally returning from a translunar orbit, which turns all the potential energy from a high altitude into velocity.
So yes, you can use lift to get mostly out of the atmosphere. It's not a free lunch, though, and generally the mass of making wings that will give enough lift without falling apart from drag stresses is a serious problem for spacecraft, so there are at present no orbital spaceplanes. Ultimately, too, that's only mostly. A stable orbit has to be quite some distance above any concentration of air thick enough to provide measurable lift, or else it will decay from drag and reenter early.