Yep. First time back sailing after 20 years, I was told to dock slowly and THOUGHT I was going slow. Pretty hefty sideglancing crunch along the port side rubrail as I came into the slip.

No damage but it was certainly a big wake up too. From now on I will come to a kreeping crawl so that the boat can be handled and guided in by the crew.
I like how Belnier describes his docking techniques.
I was taught that you can't go too slow and it really simplifies things. My wife and I have a pretty good routine of coming up to the dock at about 20 degrees, then swinging the stern around to bring the boat parallel to the dock. She steps off when we are within about a foot of the dock, wraps the bow line around a forward cleat, then walks the stern line to an aft cleat and snugs us up. Sometimes I step off and handle the stern line. It's a little game for us to see if we can actually get the boat to stop at the dock and it was initially very surprising how far the boat coasts. If we stop short of the dock, I usually scull forward, or I'll engage the outboard in forward to give it a goose.
There are lots of variations on this, depending on wind direction (no current here on an inland lake), so I would say we have about 3-4 different approaches. The key for us is to talk it out ahead of time and have everything ready- plan, dock lines, fenders- well before we are on our approach.
We rarely dock in a slip because our boat is on a ball, but when we do, we always try to find a place to go in forward because prop walk seems beyond my IQ to comprehend. The tricky part for me is making the turn to get the boat headed into the slip. We don't have a lot of room at our marina and it's basically a sharp turn to get parallel with the slip. Still, I try to do it without needing a nudge from the motor, but it usually requires a touch of reverse...or a much stronger spouse.