It is normal, just depends on how bad it rolls at liftoff. Put the throttle at zero, and the cyclic at center. Looking from the sides and back the swashplate should be level. If it's tilted forward or backward your balance is probably wrong and you need to adjust the weight a little. If it's tilting to the left, it will make takeoffs worse - adjust the control rods on the swash until it's level. If you have it trimmed so it tilts a little to the right for hover it's not a big deal right now. Just don't try to trim enough for a "normal" takeoff - that's not the answer.
When I was learning a lot of people suggested I hop up into the air and learn to hover first, then work on a more normal takeoff.
Takeoff is just a matter of practice - eventually you'll be able to compensate and go (almost) straight up without thinking about it.