My slip is challenging to get in to. Fairly narrow, down wind (blowing off the dock in prevailing westerlies) and down stream. I have very little time to get lines on before I am blown into my neighbor. On top of that, I have a skeg hung rudder, so not all that maneuverable, and a deck saloon with a lot of windage.Have you seen the stern bridle technique? It worked for me once or twice.
Stern bridle (link is to Vimeo.com)
I tried several techniques with spring lines and such but then came across the video posted above showing the stern bridle. This is by far the easiest to use and most secure way of docking that I have ever seen. I run the line from the bow cleat (I don't have midship cleats) and it always works. I use it to come into my slip and along side other docks. The only time I had any trouble with this technique was when a helpful bystander on the dock took my line and made a couple of turns around a cleat so it could not run free around it. I now ask people politely not to touch the line, just to be sure.
Once that line is passed over the cleat (or bollard, or any fixed point) you can very gently bring the boat alongside then take your time setting your mooring lines. As the video points out, you don't have to be all that close, or even very parallel with the dock, to make it work.
I encourage anyone that has ever had any difficulty docking to give this a try. It is a game changer.