Since we don't know the full situation that's giving you the most problems, here is some quick advice:
1) You can't fight the wind or current and win. So, use them to your advantage!
2) The more you practice, the better you'll be.
3) Every boat handles differently, especially in reverse.
4) Unless you have water flowing over the rudder, the boat is going to "prop-walk" when throttle is applied...how much depends on the particular boat.
5) Travel within any marina should be done at the speed at which you plan on impacting things.
6) The rudder is what steers the boat...and it's located in the stern (this is opposite from your car).
7) Communicate the docking plan with your crew well before you approach the dock.
8) Yelling only makes things more entertaining for the rest of us.
9) Always look like you know what you're doing.
Advice for your Crew/Dockhand(s):
1) Communicate the docking plan with the Helmsman before the boat approaches the dock (and before bystanders are able to hear).
2) Preplace dock lines and fenders. Some Captains/Skippers, only need a couple fenders...some should line their entire boat with them.
3) Never run, walking quickly is OK.
4) Step from the boat onto the dock instead of jumping if at all possible.
5) Never get any part of your body between the boat and anything it's going to hit. A fiberglass repair job is cheaper than X-rays.
6) Do NOT try to pull on dock lines to stop or slow the boat. Instead, get the line wrapped around a cleat as quickly as possible. Learn how to "sweat" dock lines and attach them properly to the cleats.
7) Yelling at the Helmsman/Captain/Skipper will only add to the entertainment value for any bystanders.
8) Always look like you know what you're doing.
Practice, practice, and then practice some more.
For a docking simulator, go to the Presidio Yacht Club website.
Hope this helps,
Skipper, J/36 "Zero Tolerance"
PS When you're really, really, really good, you'll be able to dock without crew...EVEN when you're on crutches!
(Yep, I've done it.)