How would I find R/S configuration in this case?
While assigning priority in I, $\ce{-CHO}$ is second priority group instead of $\ce{CH2OH}$ as in $\ce{CHO}$ there is a double bond between $\ce{C}$ and $\ce{O}$, so we can consider the duplicate form, i.e. $\ce{C}$ is bonded to two $\ce{O}$ atoms and $\ce{O}$ is bonded to two $\ce{C}$ atoms. So, the rotation is counterclockwise, but $\ce{H}$ is in front of the observer, so we consider the opposite rotation, i.e. clockwise. Thus it is R configuration.

Instead of using the rule that we have to consider the opposite rotation (while moving the fingers from the more priority group to the less priority), when the least priority is in front of the observer. You can visualize it this way, when you see the the compound I, drawn on paper, then $\ce{H}$ and $\ce{OH}$ is towards you and $\ce{CHO}$ and $\ce{CH2OH}$ is away from you and the rotation is counterclockwise. But when you see the same compound below the paper, the $\ce{H}$ and $\ce{OH}$ is away from you and $\ce{CHO}$ and $\ce{CH2OH}$ is towards you, but now the rotation is clockwise. So now we consider this rotation to say that it is in R configuration. 

The figures are basically the Fischer projections of the corresponding molecules. The actual representation of Fischer projections is below. 



Hence the 'pushing $\ce{H}$ as far as possible' thing is done when $\ce{H}$ is on dashed bond (into the screen). Just use the rules of Fischer projections and change the molecule to the form which you feel most comfortable to determine R/S configurations.