Here's what you need: Have a good transfer trajectory from Kerbin in the first place. Understand the basic "how it works", i.e. what it is you're trying to do. Know where Tylo is supposed to be upon your arrival, and what path your craft should be taking. Adjust your path, midway on your trip from Kerbin, so that Tylo (and your craft) will be in the right place upon arrival. Details on each of these, below.   Step 1:  Have a good transfer from Kerbin