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The prograde marker puts you parallel to the target. So you can use your RCS thrusters to slow down and reduce your relative speed.
If your craft is pointing backward, you can even use the rocket engine to slow down (point at the retrograde marker). Hope this helps.
just timewarp until about 30 seconds from intercept. make sure navball is set to target mode, and point retrograde. burn main engine until speed is almost exactly 0 at about 5-10 seconds from intercept
then its just a simple case of pointing your rocket towards the target and doing a slight burn until you're moving about 5-30m/s towards it.
point retrograde, and slow to 0 when you're about 10-50 meters away
if you want to dock, switch to the target craft. (henceforth craft 2)
select docking port, switch to "control from here"
target the original craft (henceforth craft 1)
target craft 1's docking port (you should be close enough to right click it)
point at target with navball
switch back to craft 1
control from docking port
target craft 2's docking port
point at docking port
burn at 1-3m/s towards it
RCS can make this easier but it's nowhere near necessary, as the way i described should land you a perfect dock every time.
-Point Retrograde
-Wait until you are close to your target
-Burn until your relative Velocity is 0