It is shown that the doublet-triplet splitting problem can be solved in SO(10) using the Dimopoulos-Wilczek mechanism with a very economical Higgs content and simple structure. Only one adjoint Higgs field is required, together with spinor and vector fields. The successful SUSY GUT prediction of gauge coupling unification is preserved. Higgsino-mediated proton decay can be suppressed below (but not far below) present limits without fine-tuning.