https://www.youtube.com/watch?v=9qHdPhkSSNQ (https://www.youtube.com/watch?v=9qHdPhkSSNQ)
That's how I do it every time, except I don't have those fancy cleat-snagging gadgets. My docklines just jump onto the cleats at a verbal command.
And I look way sexier walking up the dock.
;)