Faster has it right...at least out here. We just raft up and walk across the other boat. It's actually quite necessary in many cases and pretty much common. If someone is on board I will ask, otherwise I just put out some fenders
, raft up securing to his cleats
and run extra lines
to the float. But around here, everyone usually has fenders
out on both sides for others to raft up. If it's a pleasure vessel we usually walk across the bow but if it's a commercial vessel it usually doesn't matter too much.