I have a line always on my midship cleats
, When I approach the dock
, I impulse back to stop moving, get up and make the midship line off on a cleat on the dock
, then I go reverse on the motor
, which swings the stern towards the dock. You can do this if you are stopping somewhere temporarily easily. Next, you'd make off the stern leading aft, and the bow leading forward. Fairly straightforward under motor. Sailing onto the dock, well that's a different story...