Take lessons in close quarters maneuvering! You can't learn it from reading about it or viewing it, only by doing it. Find someplace where they will spend a day or two with you on 30+ ft. monohulls. Docking (or grabbing a mooring) require some basic techniques, but you have to "feel" what the boat is doing and that is only achievable by experiencing it standing behind the wheel with your eyes open. Guess what, when you go to cats, you'll get to learn some additional skills.