Pickup stick.
I used to be moored in a very tight field down there in Miami. I used an 8 foot pick up stick with a 3 foot section of ribbon attached to the top. I would approach into the wind slowly. When the stick was at my bow, on either side, but I preferred the port side, I would place the engine in neutral and move forward to grab the stick. The section of ribbon allowed me to grab the stick without having to lean over the side too much. As the wind backed down the boat, I would walk forwoard with the pendant and attach it to my bow cleats. Scary the fisrt time, but it becomes routine. I was moored in the Coconut Grove Sailing Club field and I miss that place terribly. Good Luck.