Warping a boat is guiding it with lines attached or held at the dock. A warp is a line trailed off the boat for this purpose. Warps are also used as drogues to slow the boat when running before steep seas.
I suggest you purchase "The Annapolis Book of Sailing" and/or Chapman's. All questions of this nature are thoroughly addressed, with illustrations, in a way that this forum cannot do justice to.
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