There may be other ways, but GTO you describe the most basic docking technique.
As 308 said you don't throw it in reverse, stop for a second in neutral. So basically you drive slowly towards the dock at about 45 degrees. When your bow is as close as you dare, shift to neutral, turn the wheel all the way towards the dock, then shift to reverse giving a little gas if needed to stop the boat. This should stop you and pull the stern in to the dock.
This is safe for your boat transmission because water is not like a road. The prop just slips a little until it grabs. The gears are not under undue stress.
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