Always stay calm, and maintain your sense of humor. Never yell at your crew, berate them, or express urgency. If the mooring-picking-up isn't just right, fall off the wind, drift away, walk up to the bow, and calmly explain that it was a great try - but you might try THIS the next time around.
Your crew will not remember your mistakes at sailing, anchoring, picking up a mooring, docking, or anything else. They will only remember how THEY felt during their vacation. Were they relaxed and laughing? Or stressed because you were an overbearing sailing Nazi?
You CHOSE the burden of captain, and their respect for you will grow when you show them (real or not) how easily you fit the role, without bitching, complaining, yelling or stressing.
