Let me give this a try.
1. Rig two 30 ft docking
lines, one aft starboard, the other amidships port.
2. Approach slowly on stbd tack under main alone.
3. As your beam is past the end of the pier, you release the main sheet, turn into the wind
, block the rudder
, and graciously step off the boat, while it's still sailing by inertia.
4. You then throw the port line on a cleat - this makes sure your boat won't be hitting the wall upwind even if your approach is too fast.
5. Walk around the slip with the stbd line, pull on the line to stop the boat at just the right time, then guide the stern into the slip as the boat slowly sails
backwards, then move up to the end of stbd pier and use the same line to stop the boat. If you need to apply more force than you can by simply puling on the line, jam it into a cleat and either just hold or pull the line between the cleat and the boat up, as if plucking a string.
Not sure if I'd try this circus number on anything heavier than a couple of tons... but it sure can be done on a 25-footer in light winds, after you spend enough time practising slow maneuvers on her.