OK I understand now. I think the flowchart
in this article gives a good idea how I should take trains for a North-South journey, which is:
Going northbound, switch to Victoria at Stockwell then back to Northern at Euston.
Going southbound, if the train is via Charing Cross, take all the way to Kennington; if the train is via Bank, switch to Victoria at Euston than back at Stockwell.
I did the journey today and, in the northbound direction, the train I boarded at Morden was for the correct branch north of Camden Town, I switched to Victoria at Stockwell then back to Northern line at Euston, but the train was for the other branch. I boarded and got off at Camden Town and went to the other platform but unfortunately I just saw the train departed and had to wait for the next one. I ended up 6 minutes faster than staying on the same train all the way to Kentish Town, which meant I ended up going ahead 3 trains (9 minutes) by the Victoria line shortcut.