Get some jugs, fenders or whatever and mark out a "dock" out in some protected
piece of water, away from anyone watching and practice. When you get to the
point where you can approach it from any direction, with any wind or current
conditions, shug your boat up against your target spot and not run over the
jugs you should be ready for anything a dock can throw at you.
The secret is practice. When you see the captains sliding those boats up
against the dock so smooth it isn't a magic trick. It is doing it a few times a
day for a bunch of years.