Pitching can be a very effective method of getting the bait where you want it without spooking the fish. Don't confuse pitching with flipping. Pitching is totally different than flipping. When you flip, you let all the line that you desire to cast out before casting. Your reel doesn't spin. When you pitch, you cast underhand and let the weight of the lure take your line out.
The object of pitching is to get your bait to make a straight line to the target and glide as close to the water as possible and land with the slightest splash.
There are two common mistakes that most beginners instinctively do when they try to learn to pitch. The first is they start with too much line out. My rule of thumb is to never go past the reel. If you have a 7 foot rod and you have 7 ft of line out, you have too much. You would do better with 5 or 6 ft of line out. The next common mistake is to try to do too much with the hand that holds the bait steady. Many people try to throw the bait or bend the rod with too much pressure. The only thing the other hand should do is hold the bait and release it. Do all the work with your dominate wrist.
Rod selection: I prefer at least a 7' rod that is fairly stiff, but not a broomstick.
Reel selection: There are many reels that work good for pitching and several that don't work so well. My rule of thumb is that if you can throw a light weight without backlashing, you probably have a good pitching reel.
I recommend using the lightest weight possible. You may want to start with a heavier weight and work your way down to a lighter weight.

Practice, Practice, Practice: I recommend practicing in your home or outside until you cant practice anymore. I also recommend setting up targets and pitch the bait to them until you are consistently close (within 1-3 inches) and using both hands until you are comfortable with each. You never know when you will be presented with the situation that you will have a better angle with your left or right hand from a presentation standpoint.

Keep in mind that when you are pitching for real, the boat may be moving, the wind may be blowing, and you may have obstacles in your way, so the only real practice will be on the water. Good luck, and great fishing.