The only succesfull human spacecraft that landed on another body and taken off again used a three stage rocket to deliver a three stage lander,
The Command and Service Module(CSM) which brought the two stages into low lunar orbit The Lunar Lander (LM) contained a descent stage and an ascent stage, the descent stage was used as a platform for the ascent stage.
To say that three stage rockets are just for one way missions is silly, especially considering that more stages enable larger payloads. We've yet to see whether SpaceX's two stage solution will actually be any good. I also do not expect a single stage to the surface of the moon and back to Low Lunar Orbit to be very usefull. Any mars mission will likely follow the exact apollo staging plan.