Towing hard dinghy
I use two lines secured at the corners of the stern of my sailboat leading back to the dingy. This way you can adjust one line or the other depending on the tack you are on. Personally I use a towing bridle made of webbing and a float connected to two docklines. I take the dingy right up to the stern whenever I have the motor on so as not to run over the lines. A floating line is a good idea to prevent this from happening.