As Harriet observes, propriety & utility* suggest that you ”... leave plenty of line between the boat and the dock ...”
Set a stern anchor, approach dock and offload all but most nimble crew. Fasten bow line (I often use a 3/6" SS lifeline & lock) to dock, pull back on stern anchor and cleat rode
, so that dinghy rides at least 1.5 lengths away from dock (or more). Pull yourself back to dock (raising rode
catenary), & disembark.
*Observe tidal ranges, ensuring that the dinghy cannot ride up to, and under dock, as tide rises.
The 35 Ft. long lifeline, used as a bowline, is locked through the transom & outboard
, and taken through a bow eye.
I always carry a rigged dinghy anchor (about 80' rode - 75' rope
+ 5' chain), oars, bailer, flashlight, whistle, and a couple of fenders & docklines - and often a small tool kit. I’ve spent an (unintended) night anchored out (Bahamas) in the dinghy, and would have appreciated a blanket or jacket.