I think a good reading of the docs is needed here
Docking is one of the key topics of orbiter... you can liftoff with a DG from cape canaveral and try to dock with the iss, you can try to do it with the space shuttle (much more difficult)... go through the manuals and search the forum, you'll find tutorials, video tutorials, and everything you may think of
I'm really sorry. I think I rushed in my question. I did that several times. What I meant was docking a vessel to another. Like a DeltaGlider with a ShuttleA, to make a simple example.